JRM Vol.29 No.5 pp. 895-901
doi: 10.20965/jrm.2017.p0895


Hopping Motion Estimation on Soft Soil by Resistive Force Theory

Kosuke Sakamoto*, Masatsugu Otsuki**, Takashi Kubota**, and Yoshiki Morino*

*Waseda University
3-4-1 Okubo, Sinjuku, Tokyo 169-8555, Japan

**Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency
3-3-1 Yoshinodai, Chuo-ku, Sagamihara, Kanagawa 252-5210, Japan

April 7, 2017
July 24, 2017
October 20, 2017
RFT, hopper, planetary exploration, dynamic effect

Various planetary terrains or asteroids, which are hard to traverse with wheeled platforms, are expected to be explored. Bekker’s model cannot be applied to estimate the motions of rovers without wheels, such as the hopping rover (hopper). In this paper, the resistive force theory (RFT) approach is introduced. This approach is not based on Bekker’s model, and is expected to apply to any platform. However, this RFT approach only applies to static or quasi-static motion, such as in the case of slow motions. To apply the RFT approach to dynamic motions, such as hopping, the effect of velocity as a dynamic variable is also studied. Through the hopping experiments, the effectiveness of RFT with the velocity-term approach is investigated and compared to the RFT approach.

Motion analysis of hopping robot on soft soil

Motion analysis of hopping robot on soft soil

Cite this article as:
K. Sakamoto, M. Otsuki, T. Kubota, and Y. Morino, “Hopping Motion Estimation on Soft Soil by Resistive Force Theory,” J. Robot. Mechatron., Vol.29 No.5, pp. 895-901, 2017.
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