Evaluation of multimode capabilities and overall performance of RRR-type legged mobile lander

This paper introduces an inverted modeling method that simplifies the kinematic analysis and enables efficient estimation of overall performance capability of legged mobile lander, rather than focusing solely on performance of single leg. The modeling is transformed and measured in the body frame. The orientation of plane passing through all the footpads is taken into consideration rather than body of robot. This approach allows the method to be universally applicable to various legged robotic systems. Several performance measurements using Inverted Modeling are presented and used in performance evaluation. The method is applied to the multimode overall performance evaluation of an RRR type legged mobile lander. Then an experimental study assesses impact forces across different operational modes, providing valuable insights into the LML’s behavior under various conditions. Ultimately, this research presents an innovative approach for simplifying lander’s overall performance evaluation while validating the potential of LMLs to enhance extraterrestrial exploration.