Design and Simulation of a Four‐Legged Mobile Robot for Autonomous Navigation on a Spacecraft Hull Article Swipe
Motaz Hassan
,
Kayla Dremann
,
Ashton Orosa
,
E. Joseph Metzger
,
Nathan Doty
,
Julia Patek
,
Siamak Farhad
,
Ajay Mahajan
·
YOU?
·
· 2025
· Open Access
·
· DOI: https://doi.org/10.1155/joro/2542899
YOU?
·
· 2025
· Open Access
·
· DOI: https://doi.org/10.1155/joro/2542899
This study presents the design and simulation of a four‐legged mobile robot engineered for autonomous navigation on the exterior surface of a spacecraft hull. Unlike existing space robotic systems that rely on fixed infrastructure or operate in structured environments, this quadruped robot is designed to traverse complex, nonplanar hull geometries without external support. The robot integrates global path planning using Dijkstra’s algorithm with real‐time orientation correction via an onboard MPU‐6050 IMU, enabling it to align with waypoints and minimize positional drift during movement. To evaluate performance, a 2D representation of a spacecraft hull was used, and three test runs were conducted. The robot demonstrated the ability to follow the computed optimal path with a positional deviation of less than 0.5% by the third trial. Positional error was quantified per waypoint and summarized using average and standard deviation metrics, while total traversal distances ranged from 65.50 to 63.00 in., approaching the theoretical minimum of 62.70 in. These results highlight the robot’s iterative improvement in trajectory tracking and its potential for future use in autonomous on‐orbit servicing and spacecraft inspection applications.
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Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1155/joro/2542899
- https://onlinelibrary.wiley.com/doi/pdfdirect/10.1155/joro/2542899
- OA Status
- gold
- Cited By
- 1
- References
- 51
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4411235628
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4411235628Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.1155/joro/2542899Digital Object Identifier
- Title
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Design and Simulation of a Four‐Legged Mobile Robot for Autonomous Navigation on a Spacecraft HullWork title
- Type
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articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2025Year of publication
- Publication date
-
2025-01-01Full publication date if available
- Authors
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Motaz Hassan, Kayla Dremann, Ashton Orosa, E. Joseph Metzger, Nathan Doty, Julia Patek, Siamak Farhad, Ajay MahajanList of authors in order
- Landing page
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https://doi.org/10.1155/joro/2542899Publisher landing page
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https://onlinelibrary.wiley.com/doi/pdfdirect/10.1155/joro/2542899Direct link to full text PDF
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YesWhether a free full text is available
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-
goldOpen access status per OpenAlex
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https://onlinelibrary.wiley.com/doi/pdfdirect/10.1155/joro/2542899Direct OA link when available
- Concepts
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Computer science, Spacecraft, Hull, Mobile robot, Simulation, Robot, Aerospace engineering, Marine engineering, Artificial intelligence, EngineeringTop concepts (fields/topics) attached by OpenAlex
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1Total citation count in OpenAlex
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2025: 1Per-year citation counts (last 5 years)
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51Number of works referenced by this work
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10Other works algorithmically related by OpenAlex
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| abstract_inverted_index.used, | 94 |
| abstract_inverted_index.using | 59, 132 |
| abstract_inverted_index.while | 138 |
| abstract_inverted_index.Unlike | 24 |
| abstract_inverted_index.design | 4 |
| abstract_inverted_index.during | 81 |
| abstract_inverted_index.follow | 107 |
| abstract_inverted_index.future | 169 |
| abstract_inverted_index.global | 56 |
| abstract_inverted_index.mobile | 10 |
| abstract_inverted_index.ranged | 142 |
| abstract_inverted_index.trial. | 123 |
| abstract_inverted_index.ability | 105 |
| abstract_inverted_index.average | 133 |
| abstract_inverted_index.minimum | 151 |
| abstract_inverted_index.onboard | 68 |
| abstract_inverted_index.operate | 35 |
| abstract_inverted_index.optimal | 110 |
| abstract_inverted_index.results | 156 |
| abstract_inverted_index.robotic | 27 |
| abstract_inverted_index.surface | 19 |
| abstract_inverted_index.systems | 28 |
| abstract_inverted_index.without | 50 |
| abstract_inverted_index.complex, | 46 |
| abstract_inverted_index.computed | 109 |
| abstract_inverted_index.designed | 43 |
| abstract_inverted_index.enabling | 71 |
| abstract_inverted_index.evaluate | 84 |
| abstract_inverted_index.existing | 25 |
| abstract_inverted_index.exterior | 18 |
| abstract_inverted_index.external | 51 |
| abstract_inverted_index.metrics, | 137 |
| abstract_inverted_index.minimize | 78 |
| abstract_inverted_index.planning | 58 |
| abstract_inverted_index.presents | 2 |
| abstract_inverted_index.standard | 135 |
| abstract_inverted_index.support. | 52 |
| abstract_inverted_index.tracking | 164 |
| abstract_inverted_index.traverse | 45 |
| abstract_inverted_index.waypoint | 129 |
| abstract_inverted_index.algorithm | 61 |
| abstract_inverted_index.deviation | 115, 136 |
| abstract_inverted_index.distances | 141 |
| abstract_inverted_index.highlight | 157 |
| abstract_inverted_index.iterative | 160 |
| abstract_inverted_index.movement. | 82 |
| abstract_inverted_index.nonplanar | 47 |
| abstract_inverted_index.potential | 167 |
| abstract_inverted_index.quadruped | 40 |
| abstract_inverted_index.robot’s | 159 |
| abstract_inverted_index.servicing | 174 |
| abstract_inverted_index.traversal | 140 |
| abstract_inverted_index.waypoints | 76 |
| abstract_inverted_index.MPU‐6050 | 69 |
| abstract_inverted_index.Positional | 124 |
| abstract_inverted_index.autonomous | 14, 172 |
| abstract_inverted_index.conducted. | 100 |
| abstract_inverted_index.correction | 65 |
| abstract_inverted_index.engineered | 12 |
| abstract_inverted_index.geometries | 49 |
| abstract_inverted_index.inspection | 177 |
| abstract_inverted_index.integrates | 55 |
| abstract_inverted_index.navigation | 15 |
| abstract_inverted_index.on‐orbit | 173 |
| abstract_inverted_index.positional | 79, 114 |
| abstract_inverted_index.quantified | 127 |
| abstract_inverted_index.simulation | 6 |
| abstract_inverted_index.spacecraft | 22, 91, 176 |
| abstract_inverted_index.structured | 37 |
| abstract_inverted_index.summarized | 131 |
| abstract_inverted_index.trajectory | 163 |
| abstract_inverted_index.approaching | 148 |
| abstract_inverted_index.improvement | 161 |
| abstract_inverted_index.orientation | 64 |
| abstract_inverted_index.real‐time | 63 |
| abstract_inverted_index.theoretical | 150 |
| abstract_inverted_index.Dijkstra’s | 60 |
| abstract_inverted_index.demonstrated | 103 |
| abstract_inverted_index.performance, | 85 |
| abstract_inverted_index.applications. | 178 |
| abstract_inverted_index.environments, | 38 |
| abstract_inverted_index.four‐legged | 9 |
| abstract_inverted_index.infrastructure | 33 |
| abstract_inverted_index.representation | 88 |
| cited_by_percentile_year.max | 95 |
| cited_by_percentile_year.min | 91 |
| countries_distinct_count | 0 |
| institutions_distinct_count | 8 |
| citation_normalized_percentile.value | 0.78959261 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | True |