Journal Home > Volume 8 , Issue 1
Astrodynamics 2024, 8(1): 149-159 https://doi.org/10.1007/s42064-023-0185-1
Research Article | Issue | Published: 08 February 2024

Attitude-adjusting dynamical behavior of cubic rover on low-gravity testbed

Show Author's Information Bowen Jiang,  Muhammad Talha Hussain,  Xiangyuan Zeng( )
School of Automation, Beijing Institute of Technology, Beijing 100081, China
Keywords:
experimental study, low-gravity testbed, attitude-adjusting motion, cubic rover
Cite this article:
Jiang B, Hussain MT, Zeng X. Attitude-adjusting dynamical behavior of cubic rover on low-gravity testbed. Astrodynamics, 2024, 8(1): 149-159. https://doi.org/10.1007/s42064-023-0185-1
Download citation
EndNote(RIS)
BibTeX

100

Views

7

Downloads

Citations

0

Crossref

0

WoS

0

Scopus

0

CSCD

Abstract Full text About this article

Cubic rovers that traverse by hopping systems are promising in low-gravity environments. Although several analyses of the control methods and mobility of the cubic rover are available, investigations of its attitude-adjusting behavior are still limited. This study derives the dynamic equations of the two attitude-adjusting modes of the cubic rover, referred to as walking and twisting. The relationships between the speed threshold and rotation angle of the cubic rover were investigated in both rigid and regolith environments using a self-designed low-gravity testbed. Comparative studies were conducted by considering the experimental and simulated outputs. The results of this study can be interesting for roving mission planning when exploring planetary moons and small celestial bodies.


menu
Abstract
Full text
Outline
About this article

Attitude-adjusting dynamical behavior of cubic rover on low-gravity testbed

Show Author's information Bowen Jiang, Muhammad Talha Hussain, Xiangyuan Zeng( )
School of Automation, Beijing Institute of Technology, Beijing 100081, China

Abstract

Cubic rovers that traverse by hopping systems are promising in low-gravity environments. Although several analyses of the control methods and mobility of the cubic rover are available, investigations of its attitude-adjusting behavior are still limited. This study derives the dynamic equations of the two attitude-adjusting modes of the cubic rover, referred to as walking and twisting. The relationships between the speed threshold and rotation angle of the cubic rover were investigated in both rigid and regolith environments using a self-designed low-gravity testbed. Comparative studies were conducted by considering the experimental and simulated outputs. The results of this study can be interesting for roving mission planning when exploring planetary moons and small celestial bodies.

Keywords: experimental study, low-gravity testbed, attitude-adjusting motion, cubic rover

References(19)

[1]
Carruba, V., Nesvorný, D., Vokrouhlický, D. Detection of the YORP effect for small asteroids in the Karin cluster. The Astronomical Journal, 2016, 151(6): 164.
DOI Google Scholar
[2]
Huang, X., Xu, C., Hu, J., Li, M., Guo, M., Wang, X., Zhao, Y., Hua, B., Wang, Y. Powered-descent landing GNC system design and flight results for Tianwen-1 mission. Astrodynamics, 2022, 6(1): 3–16.
DOI Google Scholar
[3]
Xu, C., Huang, X., Guo, M., Li, M., Hu, J., Wang, X. End-to-end Mars entry, descent, and landing modeling and simulations for Tianwen-1 guidance, navigation, and control system. Astrodynamics, 2022, 6(1): 53–67.
DOI Google Scholar
[4]
Cheng, L., Wang, Z., Gong, S. Adaptive control of hypersonic vehicles with unknown dynamics based on dual network architecture. Acta Astronautica, 2022, 193: 197–208.
DOI Google Scholar
[5]
Miao, X., Song, Y., Zhang, Z., Gong, S. Successive convexification for ascent trajectory replanning of a multistage launch vehicle experiencing nonfatal dynamic faults. IEEE Transactions on Aerospace and Electronic Systems, 2022, 58(3): 2039–2052.
DOI Google Scholar
[6]
Wen, T., Zeng, X., Circi, C., Gao, Y. Hop reachable domain on irregularly shaped asteroids. Journal of Guidance, Control, and Dynamics, 2020, 43(7): 1269–1283.
DOI Google Scholar
[7]
Li, Z., Zeng, X., Wang, S. Hopping trajectory planning for asteroid surface exploration accounting for terrain roughness. Transactions of the Japan Society for Aeronautical and Space Sciences, 2021, 64(4): 205–214.
DOI Google Scholar
[8]
Zhang, Y., Michel, P. Shapes, structures, and evolution of small bodies. Astrodynamics, 2021, 5(4): 293–329.
DOI Google Scholar
[9]
Ulamec, S., Kucherenko, V., Biele, J., Bogatchev, A., Makurin, A., Matrossov, S. Hopper concepts for small body landers. Advances in Space Research, 2011, 47(3): 428–439.
DOI Google Scholar
[10]
Gajamohan, M., Merz, M., Thommen, I., D’Andrea, R. The Cubli: A cube that can jump up and balance. In: Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura-Algarve, Portugal, 2012: 3722–3727.
DOI
[11]
Gajamohan, M., Muehlebach, M., Widmer, T., D’Andrea, R. The Cubli: A reaction wheel based 3D inverted pendulum. In: Proceedings of the 2013 European Control Conference, Zurich, 2013: 268–274.
DOI
[12]
Romanishin, J. W., Gilpin, K., Rus, D. M-blocks: Momentum-driven, magnetic modular robots. In: Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, 2013: 4288–4295.
DOI
[13]
Pavone, M., Castillo-Rogez, J. C., Nesnas, I. A. D., Hoffman, J. A., Strange, N. J. Spacecraft/rover hybrids for the exploration of small solar system bodies. In: Proceedings of the 2013 IEEE Aerospace Conference, Big Sky, MT, USA, 2013: 1–11.
DOI
[14]
Hockman, B., Frick, A., Nesnas, I. A. D., Pavone, M. Design, control, and experimentation of internally-actuated rovers for the exploration of low-gravity planetary bodies. In: Field and Service Robotics. Springer, 2016: 283–298.
DOI
[15]
Cheng, B., Yu, Y., Baoyin H. Numerical simulations of the controlled motion of a hopping asteroid lander on the regolith surface. Monthly Notices of the Royal Astronomical Society, 2019, 485(3): 3088–3096.
DOI Google Scholar
[16]
Reill, J., Sedlmayr, H. J., Neugebauer, P., Maier, M., Krämer, E., Lichtenheldt, R. Hayabusa II–MASCOT asteroid lander with innovative mobility mechanism. In: Proceedings of the 11th International Academy of Astronautics Low-Cost Planetary Missions Conference, Berlin, Germany, 2015.
[17]
Zeng, X., Jiang, B., Talha, H., Jiang, J., Yang, R. Attitude control experiments of cubic rover on low-gravity testbed. Transactions of Nanjing University of Aeronautics and Astronautics, 2022, 39(2): 143–151.
Google Scholar
[18]
Liu, C. Matrix Discrete Element Analysis of Geological and Geotechnical Engineering. Singapore: Springer Singapore, 2021.
DOI
[19]
Zeng, X., Wen, T., Yu, Y., Cheng, B., Qiao, D. New practical discrete non-spherical N-body method: Validation with the Brazil nut effect. Icarus, 2022, 387: 115201.
DOI Google Scholar
Publication history
Copyright
Acknowledgements

Publication history

Received: 31 May 2023
Accepted: 25 September 2023
Published: 08 February 2024
Issue date: March 2024

Copyright

© Tsinghua University Press

Acknowledgements

This work was supported by the National Natural Science Foundation of China (Grant Nos. 11972075 and 12222202) and Beijing Institute of Technology (Grant No. 2021CX01029).

Return