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The exploration of asteroids and comets is important in the quest for theformation of the Solar System and it is an important step for human spacetravel. Moving on the surface of asteroids is challenging for future roboticexplorers due to the weak gravity force. In this research, an approach that isbased on a new kind of jumping rovers is presented. This robotic platform hasinternal masses and by spinning up these flywheels and suddenly stopping them,it is feasible to perform a hop from a few meters up to hundreds of meters. Incontrast to related works where robotic explorers usually stop a flywheelinstantaneously, the INAHOPPER prototype takes advantage of on stopping aflywheel by voltage inversion in a short lapse to modify the launch angle, avery useful action over terrains with different degrees of inclination. Thisarticle discusses, first, the dynamics of the rover for a 2D model, second, thecontrol algorithm executed in the prototype for braking the flywheel, andthird, the analysis of the performance of the flywheel to make simulations ofthe trajectories over an asteroid.

Locomotion Design for an Internally Actuated Cubic Robot for Exploration of Low Gravity Bodies in the Solar System