Lichtenheldt, Roy und Reill, Josef (2016) Leaping in Lowgravity - Modeling MASCOT’s hopping Locomotion on Asteroid Ryugu. In: i-SAIRAS 2016. iSAIRAS 2016, 2016-06-19 - 2016-06-22, Beijing, Volksrepublik China.
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Kurzfassung
DLR’s lander MASCOT is an innovative system to explore and traverse asteroid surfaces. Launched piggyback on JAXA’s Hayabusa II spacecraft in December 2014, MASCOT is already on its four years cruise phase to the asteroid Ryugu-1999JU3. Even though MASCOT features a 1-DOF mobility actuator only, it has to deal with the complex interaction of the cuboid lander with the terrain. Thus, a certain orientation of MASCOT cannot be achieved directly. Hence, the mobility unit developed by DLR’s Robotics and Mechatronics Center enables MASCOT to up-right to the measurement position and to relocate by hopping motion. In this article, the optimization-based technique used to identify suitable and robust trajectories of the mobility unit is explained and exemplified for hopping and up-righting.
elib-URL des Eintrags: | https://elib.dlr.de/104931/ | ||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||
Titel: | Leaping in Lowgravity - Modeling MASCOT’s hopping Locomotion on Asteroid Ryugu | ||||||||||||
Autoren: |
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Datum: | 20 Juni 2016 | ||||||||||||
Erschienen in: | i-SAIRAS 2016 | ||||||||||||
Referierte Publikation: | Ja | ||||||||||||
Open Access: | Nein | ||||||||||||
Gold Open Access: | Nein | ||||||||||||
In SCOPUS: | Nein | ||||||||||||
In ISI Web of Science: | Nein | ||||||||||||
Status: | veröffentlicht | ||||||||||||
Stichwörter: | MASCOT, Asteroid locomotion, optimization | ||||||||||||
Veranstaltungstitel: | iSAIRAS 2016 | ||||||||||||
Veranstaltungsort: | Beijing, Volksrepublik China | ||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||
Veranstaltungsbeginn: | 19 Juni 2016 | ||||||||||||
Veranstaltungsende: | 22 Juni 2016 | ||||||||||||
Veranstalter : | Harbin Institute of Technology | ||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||
HGF - Programmthema: | Erforschung des Weltraums | ||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||
DLR - Forschungsgebiet: | R EW - Erforschung des Weltraums | ||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Projekt MASCOT (alt) | ||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||
Institute & Einrichtungen: | Institut für Systemdynamik und Regelungstechnik > Raumfahrt-Systemdynamik Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||
Hinterlegt von: | Lichtenheldt, Roy | ||||||||||||
Hinterlegt am: | 12 Jul 2016 13:24 | ||||||||||||
Letzte Änderung: | 24 Apr 2024 20:10 |
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