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A rocket-propelled miniature robot is capable to explore sites that planetary rovers cannot reach with efficiency in locomotion distance per mass. The technical difficulty is the significant variance in its flight distance because of two factors: sensitivity of error in the center of gravity with respect to the thrust axis, and solid rocket engines deviance in thrusting force. To overcome the issue,...
This paper discusses robust capture of a free-floating target using a robotic arm. The position error resulting from sensor errors and time delay can cause undesired contact and unstable control. In this paper, we propose a caging-based rigid gripper and impedance control, which enables the robot to capture the target robustly without precise motion tracking and large force interaction. The performance...
This paper presents the concept and evaluation of flight dynamics for the small sized rocket-propelled exploration robot, “Shooting Scouter”. Most of the planetary rovers are actuated by the wheels, causing their velocity limited by the electrical power restriction and the heat exhausting efficiency of the motors. Also the locomotion distance is strongly influenced by features of the terrain of the...
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