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| Auteurs principaux: | , , , , , , , , , , , , , , |
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| Format: | Preprint |
| Publié: |
2024
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| Accès en ligne: | https://arxiv.org/abs/2403.02831 |
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| _version_ | 1866929264785358848 |
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| author | Spiridonov, Alexander Buehler, Fabio Berclaz, Moriz Schelbert, Valerio Geurts, Jorit Krasnova, Elena Steinke, Emma Toma, Jonas Wuethrich, Joschua Polat, Recep Zimmermann, Wim Arm, Philip Rudin, Nikita Kolvenbach, Hendrik Hutter, Marco |
| author_facet | Spiridonov, Alexander Buehler, Fabio Berclaz, Moriz Schelbert, Valerio Geurts, Jorit Krasnova, Elena Steinke, Emma Toma, Jonas Wuethrich, Joschua Polat, Recep Zimmermann, Wim Arm, Philip Rudin, Nikita Kolvenbach, Hendrik Hutter, Marco |
| contents | We present SpaceHopper, a three-legged, small-scale robot designed for future mobile exploration of asteroids and moons. The robot weighs 5.2kg and has a body size of 245mm while using space-qualifiable components. Furthermore, SpaceHopper's design and controls make it well-adapted for investigating dynamic locomotion modes with extended flight-phases. Instead of gyroscopes or fly-wheels, the system uses its three legs to reorient the body during flight in preparation for landing. We control the leg motion for reorientation using Deep Reinforcement Learning policies. In a simulation of Ceres' gravity (0.029g), the robot can reliably jump to commanded positions up to 6m away. Our real-world experiments show that SpaceHopper can successfully reorient to a safe landing orientation within 9.7 degree inside a rotational gimbal and jump in a counterweight setup in Earth's gravity. Overall, we consider SpaceHopper an important step towards controlled jumping locomotion in low-gravity environments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_02831 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | SpaceHopper: A Small-Scale Legged Robot for Exploring Low-Gravity Celestial Bodies Spiridonov, Alexander Buehler, Fabio Berclaz, Moriz Schelbert, Valerio Geurts, Jorit Krasnova, Elena Steinke, Emma Toma, Jonas Wuethrich, Joschua Polat, Recep Zimmermann, Wim Arm, Philip Rudin, Nikita Kolvenbach, Hendrik Hutter, Marco Robotics We present SpaceHopper, a three-legged, small-scale robot designed for future mobile exploration of asteroids and moons. The robot weighs 5.2kg and has a body size of 245mm while using space-qualifiable components. Furthermore, SpaceHopper's design and controls make it well-adapted for investigating dynamic locomotion modes with extended flight-phases. Instead of gyroscopes or fly-wheels, the system uses its three legs to reorient the body during flight in preparation for landing. We control the leg motion for reorientation using Deep Reinforcement Learning policies. In a simulation of Ceres' gravity (0.029g), the robot can reliably jump to commanded positions up to 6m away. Our real-world experiments show that SpaceHopper can successfully reorient to a safe landing orientation within 9.7 degree inside a rotational gimbal and jump in a counterweight setup in Earth's gravity. Overall, we consider SpaceHopper an important step towards controlled jumping locomotion in low-gravity environments. |
| title | SpaceHopper: A Small-Scale Legged Robot for Exploring Low-Gravity Celestial Bodies |
| topic | Robotics |
| url | https://arxiv.org/abs/2403.02831 |