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The science and origins of asteroids is deemed high priority in the PlanetaryScience Decadal Survey. Two of the main questions from the Decadal Surveypertain to what the "initial stages, conditions, and processes of solar systemformation and the nature of the interstellar matter" that was present in theprotoplanetary disk, as well as determining the "primordial sources for organicmatter." Major scientific goals for the study of planetesimals are to deciphergeological processes in SSSBs not determinable from investigation via in situexperimentation, and to understand how planetesimals contribute to theformation of planets. Ground based observations are not sufficient to examineSSSBs, as they are only able to measure what is on the surface of the body;however, in situ analysis allows for further, close up investigation as to thesurface characteristics and the inner composure of the body. The AsteroidMobile Imager and Geologic Observer (AMIGO) is a 1U stowed autonomous robotthat can perform surface hopping on an asteroid with an inflatable structure.It contains science instruments to provide stereo context imaging,micro-imaging, seismic sensing, and electric field measurements. Multiplehopping robots are deployed as a team to eliminate single-point failure and addrobustness to data collection. An on-board attitude control system consists ofa thruster chip of discretized micro-nozzles that provides hopping thrust and areaction wheel for controlling the third axis. For the continued development ofthe robot, an engineering model is developed to test various components andalgorithms.

Development and Testing of an Engineering Model for an Asteroid Hopping Robot