Analysis on hopping mechanism of planetary robotic vehicle by microgravity experiments

For future exploration missions to small planetary bodies, in-situ surface observation by robots would be a promising method to investigate the target body whose surface gravity is very small. The authors have researched the mobility system under the microgravity environment and proposed a new mobile system which drives a robot by hopping. Due to the uncertainty of the escape velocity from the target small body, the hop velocity of the robot has to be controlled on-board. This paper proposes a velocity control method of the hopping mechanism, which was evaluated by microgravity experiments and compared with numerical simulation analyses.