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ATTITUDE CONTROL OF SMALL HOPPING ROBOTS FOR PLANETARY EXPLORATION : THEORY AND SIMULATIONS

In the past years, several studies have been carried out to identify the main features necessary for a planetary hopping robot, including degrees of mobility, protection at landing, sensing algorithms and propulsion mechanisms. This paper elaborates that applying methods for attitude control of spacecrafts would efficiently achieve the dual objective of ensuring landing with a specified body orientation and of acquiring scientific information during the jump. The paper proposes to apply methods for spacecraft control based on reaction wheels to hopper attitude control, and we show that they compatible with the mass and volume budgets of a small hopping robot. After having identified a promising method, the paper presents the specific control equations of the hopping robot selected, and it demonstrates with extensive simulations that the two main objectives can be achieved.