Multi-Limbed Robot Control on Asteroid Exploration Missions

Due to the success of recent missions, the scientific in- terest in asteroids has increased. Alas, its complexity is the reason why little attention has been given to close surface analysis. In this paper, the authors present a study on the locomotion of limbed robotic systems based on the detec- tion of friction force. The microgravity environment and its effect on the dynamics of such robotic system during motion are addressed. An algorithm to generate compli- ant motion gaits is presented. Experimental results in an emulated microgravity environment show that the control system is capable of maintaining balanced contacts during motions.