Upadhyay, S; Aguiar, AP.
ID Authenticus: P-00Q-VEP
Abstract: We consider the problem of generating maximum height constrained trajectories with minimum launching speed for hopping robots exploring celestial bodies. The hopping robot should satisfy a maximum height constraint to ensure a damage-free landing and a minimum launching speed to minimize propulsion energy expenditure in each hop. We propose a ballistic motion based multi-hop trajectory planning method that generates a feasible trajectory connecting a given set of waypoints with accuracy. The proposed approach is based on a simple closed-form condition specifying minimum number of hops for feasible trajectory generation. Simulations are carried out to validate the analytical findings.