Hostname: page-component-586b7cd67f-g8jcs Total loading time: 0 Render date: 2024-11-27T00:03:29.408Z Has data issue: false hasContentIssue false
  • English
  • Français

Bimodal mobility actuated by inertial forces with surface elastic bodies in microgravity

Published online by Cambridge University Press:  11 May 2021

Kenji Nagaoka Open the ORCID record for Kenji Nagaoka [Opens in a new window] ,
Toshiyasu Kaneko  and
Kazuya Yoshida
Kenji Nagaoka*
Affiliation:
Department of Mechanical and Control Engineering, Graduate School of Engineering, Kyushu Institute of Technology, Fukuoka, Japan
Toshiyasu Kaneko
Affiliation:
Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, Sendai, Japan
Kazuya Yoshida
Affiliation:
Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, Sendai, Japan
*
*Corresponding author. Email: [email protected]
Get access Rights & Permissions [Opens in a new window]

Abstract

This paper presents bimodal mobility actuated by inertial forces with elastic bodies for an exploration robot in a microgravity environment. The proposed bimodal locomotion mechanism can selectively achieve vibration propulsion or rotational hopping mode based on centrifugal force and reaction torque exerted by the control of a single eccentric motor, where the rotational hopping is the primary locomotion mode for practical applications. The bimodal mobility performance under microgravity is experimentally examined using an air-floating testbed. Furthermore, we also present theoretical modeling of the bimodal mobility system, and the model is verified by comparison with the experiments.

Keywords

bimodal mobilityinertial forceselastic bodieseccentric motormicrogravity
Type
Article
Information
Robotica , Volume 40 , Issue 2 , February 2022 , pp. 294 - 315
Copyright
© The Author(s), 2021. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Sagdeev, R. Z. and Zakharov, A. V., “Brief history of the Phobos mission,” Nature 341, 581–585 (1989).CrossRefGoogle Scholar
Yoshimitsu, T., Kubota, T., Nakatani, I., Adachi, T. and Saito, H., “Micro-hopping robot for asteroid exploration,” Acta Astronautica 52(2–6), 441–446 (2003).CrossRefGoogle Scholar
Tsuda, Y., Yoshikaw, M., Abe, M., Minamino, H. and Nakazawa, S., “System design of the Hayabusa 2 –asteroid sample return mission to 1999 JU3,” Acta Astronautica 91, 356–362 (2013).CrossRefGoogle Scholar
Yoshimitsu, T., Tomiki, A. and Kubota, T., “Asteroid Surface Exploration Rovers Developed for Hayabusa-2 Mission,” Proceedings of the 66th International Astronautical Congress (2015).Google Scholar
Nagaoka, K., Yoshida, K., Kurisu, M., Osuka, K., Tadakuma, K., Tsumaki, Y., Mineta, T., Kimura, S., Narumi, T., Kubota, T. and Yoshimitsu, T., “Development of MINERVA-II2, a Micro-Robot for Asteroid Surface Exploration with Innovative Mobility,” The 11th Low-Cost Planetary Missions Conference (2015).Google Scholar
Ho, T.-M., Baturkin, V., Grimm, C., Grundmann, J. T., Hobbie, C., Ksenik, E., Lange, C., Sasaki, K., Schlotterer, M., Talapina, M., Termtanasombat, N., Wejmo, E., Witte, L., Wrasmann, M., Wubbels, G., Rosler, J., Ziach, C., Findlay, R., Biele, J., Krause, C., Ulamec, S., Lange, M., Mierheim, O., Lichtenheldt, R., Maier, M., Reill, J., Sedlmayr, H.-J., Bousquet, P., Bellion, A., Bompis, O., Cenac-Morthe, C., Deleuze, M., Fredon, S., Jurado, E., Canalias, E., Jaumann, R., Bibring, J.-P., Glassmeier, K. H., Hercik, D., Grott, M., Celotti, L., Cordero, F., Hendrikse, J. and Okada, T., “MASCOT–the mobile asteroid surface scout onboard the Hayabusa2 mission,” Space Sci. Rev. 208(1–4), 339–374 (2017).CrossRefGoogle Scholar
“MINERVA-II1: Images from the surface of Ryugu,” (Last accessed on February 21, 2021). [Online]. Available: http://www.hayabusa2.jaxa.jp/en/topics/20180927e_MNRV/Google Scholar
“Three hops in three asteroid days – MASCOT successfully completes the exploration of the surface of asteroid Ryugu,” (Last accessed on February 21, 2021). [Online]. Available: https://www.dlr.de/content/en/articles/news/2018/4/20181005_mascot-completes-exploration-ruygu.htmlGoogle Scholar
Wilcox, B. H. and Jones, R. N., “The MUSES-CN Nanorover Mission and Related Technology,” Proceedings of the IEEE Aerospace Conference (2000) pp. 287–295.Google Scholar
Fiorini, P. and Burdick, J., “The development of hopping capabilities for small robots,” Auto. Rob. 14(2), 239–254 (2003).CrossRefGoogle Scholar
Ulamec, S., Kucherenko, V., Biele, J., Bogatchev, A., Makurin, A. and Matrossov, S., “Hopper concepts for small body landers,” Adv. Space Res. 47(3), 428–439 (2011).CrossRefGoogle Scholar
Hockman, B., Frick, A., Reid, R. G., Nesnas, I. A. D. and Pavone, M., “Design, control and experimentation of internally-actuated rovers for the exploration of low-gravity planetary bodies,” J. Field Rob. 34(1), 5–24 (2017).CrossRefGoogle Scholar
Nagaoka, K., Takano, R., Izumo, T. and Yoshida, K., “Ciliary Micro-Hopping Locomotion of an Asteroid Exploration Robot,” Proceedings of the 11th International Symposium on Artificial Intelligence, Robotics and Automation in Space (2012).Google Scholar
Nagaoka, K. and Yoshida, K., “Modeling and Analysis of Ciliary Micro-Hopping Locomotion Actuated by an Eccentric Motor in a Microgravity,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and System (2013) pp. 763–768.Google Scholar
Nagaoka, K., Watanabe, K., Kaneko, T. and Yoshida, K., “Mobility Performances of Ciliary Locomotion for an Asteroid Exploration Robot Under Various Environmental Conditions,” Proceedings of the 13th International Symposium on Artificial Intelligence, Robotics and Automation in Space (2016).Google Scholar
Hatsuzawa, T., Hayase, M. and Oguchi, T., “A linear actuator based on cilia vibration,” Sens. Actuators A Phys. 105(2), 183–189 (2003).CrossRefGoogle Scholar
Pott, P. P., Carrasco, A. and Schlaak, H. F., “Ciliae-based actuator with piezoelectric excitation,” Smart Mater. Struct. 21(6), #064010 (2012).CrossRefGoogle Scholar
Ioi, K., “A Mobile Micro-Robot Using Centrifugal Forces,” Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (1999) pp. 736–741.Google Scholar
Ding, Z. and Ziaie, B., “Vibration-induced frequency-controllable bidirectional locomotion for assembly and microrobotic applications,” IEEE Trans. Rob. 25(5), 1192–1196 (2009).CrossRefGoogle Scholar
Eigoli, A. K. and Vossoughi, G. R., “Dynamic modeling of stick-slip motion in a legged, piezoelectric driven microrobot,” Int. J. Adv. Rob. Syst. 7(3), 201–208 (2010).Google Scholar
Becker, F., Boerner, S. and Lysenko, V., “On the Mechanics of Bristle-Bots-Modeling, Simulation and Experiments,” Proceedings of the 41st International Symposium on Robotics (2014) pp. 1–8. Print ISBN: 978-3-8007-3601-0.Google Scholar
Okabe, S., Yokoyama, Y. and Boothroyd, G., “Analysis of vibratory feeding where the track has directional friction characteristics,” Int. J. Adv. Manuf. Tech. 3(4), 73–85 (1988).CrossRefGoogle Scholar
Konyo, M., Isaki, K., Hatazaki, K., Tadokoro, S. and Takemura, F., “Ciliary vibration drive mechanism for active scope cameras,” J. Robot. Mech. 20(3), 490–499 (2008).CrossRefGoogle Scholar
Yoshida, K., Maruki, T. and Yano, H., “A Novel Strategy for Asteroid Exploration with a Surface Robot”, Proceedings of the 34th COSPAR Scientific Assembly (2002) pp. 281–286.Google Scholar
Parness, A., Abcouwer, N., Fuller, C., Wiltsie, N., Nash, J. and Kennedy, B., “LEMUR 3: A Limbed Climbing Robot for Extreme Terrain Mobility in Space,” Proceedings of the IEEE International Conference on Robotics and Automation (2017) pp. 5467–5473.Google Scholar
Nagaoka, K., Minote, H., Maruya, K., Shirai, Y., Yoshida, K., Hakamada, T., Sawada, H. and Kubota, T., “Passive spine gripper for free-climbing robot in extreme terrain,” IEEE Robot. Autom Lett. 3(3), 1765–1770 (2018).CrossRefGoogle Scholar
DeSimone, A. and Tatone, A., “Crawling motility through the analysis of model locomotors: Two case studies,” Eur. Phys. J. E 35(9), #85 (2012).CrossRefGoogle ScholarPubMed
Bafekrpour, E., Dyskin, A., Pasternak, E., Molotnikov, A. and Estrin, Y., “Internally architectured materials with directionally asymmetric friction,” Sci. Rep. 5, #10732 (2015).CrossRefGoogle ScholarPubMed
Kobashi, K., Bando, A., Nagaoka, K. and Yoshida, K., “Tumbling and Hopping Locomotion Control for a Minor Body Exploration Robot,” Proceedings of the 2020 IEEE/RSJ International Conference on Intelligent Robots and System (2020) pp. 1871–1878.Google Scholar