Validating Microgravity Mobility Models for Hopping/Tumbling Robots Testing

Researchers at Stanford University and at the Jet Propulsion Laboratory have recently been investigating low-mass surface platforms that can traverse the rugged and soft terrains of small bodies, where gravity is e1tremely low. These platforms impart mobility by generating a reaction force through simple internal actuation mechanisms, enabling them to traverse by hopping (for large surface coverage) and tumbling/shuffling (for fine mobility and instrument pointing). These platforms would position science instruments through a sequence of tumbling and shuffling maneuvers. In suborbital parabolic demonstrations, the researchers demonstrated a new class of low-mass (<10 kg) hopping/tumbling robots in the low-gravity environment and on terrains with properties typical of small solar system bodies: asteroids, near-Earth objects, and small moons. This is a knowledge payload that seeks to evaluate control and mobility strategies, gather data on the dynamical properties, and validate simulation models of these internally-actuated robots. Specifically, the parabolic flights aimed to: • Assess the ability to control tumble maneuvers that roll the craft from one face to another on different types of terrain • Assess the ability of control hop maneuvers (direction and length) on different types of terrain • Characterize hop properties (min/max hop angle, max hop distance, and accuracy of hop direction) on different terrain types Data from the successful flight campaign will help inform and refine future design iterations and further understanding of microgravity mobility dynamics.