This paper presents bimodal mobility actuated by inertial forces with elastic bodies for an exploration robot in a microgravity environment. The proposed bimodal locomotion mechanism can selectively achieve vibration propulsion or rotational hopping mode based on centrifugal force and reaction torque exerted by the control of a single eccentric motor, where the rotational hopping is the primary locomotion mode for practical applications. The bimodal mobility performance under microgravity is experimentally examined using an air-floating testbed. Furthermore, we also present theoretical modeling of the bimodal mobility system, and the model is verified by comparison with the experiments.

中文翻译：

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微重力下表面弹性体惯性力驱动的双峰运动

本文介绍了在微重力环境中由带有弹性体的惯性力驱动的探索机器人的双峰移动性。所提出的双峰运动机构可以基于由单个偏心电机控制施加的离心力和反作用扭矩选择性地实现振动推进或旋转跳跃模式，其中旋转跳跃是实际应用的主要运动模式。使用气浮试验台对微重力下的双峰移动性能进行了实验检验。此外，我们还提出了双峰移动系统的理论建模，并通过与实验的比较验证了该模型。