2016
DOI: 10.2322/tastj.14.pk_125
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Analysis on Motion Control Based on Reaction Null Space for Ground Grip Robot on an Asteroid

Abstract: The surface of an asteroid features an irregular terrain and microgravity. Therefore, robotic exploration in an asteroid requires the adoption of an appropriate locomotion strategy. Moreover, an exploration robot is expected to be capable of moving to an area of scientific interest. In response to this, we have proposed a ground grip robot that moves by gripping the surface like a rock climber. By gripping the surface, the robot can prevent unintended flotation and rotation while propelling itself across the s… Show more

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Cited by 6 publications
(1 citation statement)
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“…We applied this control method to the ground-gripping robot. Moreover, we clarified that the robot can move on an irregular terrain, and that initial base height affects stable locomotion through planar simulation [11].…”
Section: Introductionmentioning
confidence: 99%
“…We applied this control method to the ground-gripping robot. Moreover, we clarified that the robot can move on an irregular terrain, and that initial base height affects stable locomotion through planar simulation [11].…”
Section: Introductionmentioning
confidence: 99%