Experimental Methods for Mobility and Surface Operations of Microgravity Robots

We propose an experimental method for studying mobility and surface operations of microgravity robots on zero-gravity parabolic flights—a test bed traditionally used for experiments requiring strictly zero gravity. By strategically exploiting turbulence-induced “gravity fluctuations,” our technique enables a new experimental approach for testing surface interactions of robotic systems in micro- to milli-gravity environments. This strategy is used to evaluate the performance of internally-actuated hopping rovers designed for controlled surface mobility on small Solar System bodies. In experiments, these rovers demonstrated a range of maneuvers on various surfaces, including both rigid and granular. Results are compared with analytical predictions and numerical simulations, yielding new insights into the dynamics and control of hopping rovers.