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Leaping in Lowgravity - Modeling MASCOT’s hopping Locomotion on Asteroid Ryugu

Lichtenheldt, Roy and Reill, Josef (2016) Leaping in Lowgravity - Modeling MASCOT’s hopping Locomotion on Asteroid Ryugu. In: i-SAIRAS 2016. iSAIRAS 2016, 19.-22.06.2016, Beijing, Volksrepublik China.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/104931/
Document Type:Conference or Workshop Item (Speech)
Title:Leaping in Lowgravity - Modeling MASCOT’s hopping Locomotion on Asteroid Ryugu
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lichtenheldt, RoyRoy.Lichtenheldt (at) dlr.dehttps://orcid.org/0000-0002-2539-4910
Reill, JosefJosef.Reill (at) dlr.deUNSPECIFIED
Date:20 June 2016
Journal or Publication Title:i-SAIRAS 2016
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:MASCOT, Asteroid locomotion, optimization
Event Title:iSAIRAS 2016
Event Location:Beijing, Volksrepublik China
Event Type:international Conference
Event Dates:19.-22.06.2016
Organizer:Harbin Institute of Technology
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Science and Exploration
DLR - Research area:Raumfahrt
DLR - Program:R EW - Erforschung des Weltraums
DLR - Research theme (Project):R - Project MASCOT (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Lichtenheldt, Roy
Deposited On:12 Jul 2016 13:24
Last Modified:11 Jul 2019 13:58

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