{"id":"https://openalex.org/W4407017563","doi":"https://doi.org/10.52202/078357-0175","title":"A Dynamic Analysis of Wheeled Jumping Robot for Lunar Exploration","display_name":"A Dynamic Analysis of Wheeled Jumping Robot for Lunar Exploration","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4407017563","doi":"https://doi.org/10.52202/078357-0175"},"language":"en","primary_location":{"id":"doi:10.52202/078357-0175","doi":"https://doi.org/10.52202/078357-0175","is_oa":false,"landing_page_url":"https://doi.org/10.52202/078357-0175","pdf_url":null,"source":{"id":"https://openalex.org/S7407096136","display_name":"IAF Space Exploration Symposium","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IAF Space Exploration Symposium","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pure.manchester.ac.uk/ws/files/1900867161/IAC_2024_Manuscript_-_author_Accepted.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"John Lo","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"John Lo","raw_affiliation_strings":["The University of Manchester"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Manchester","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051756546","display_name":"Katherine Smith","orcid":"https://orcid.org/0000-0001-7471-0708","observed_orcids":["https://orcid.org/0000-0001-7471-0708","https://orcid.org/0000-0002-1060-4102"]},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Katharine Smith","raw_affiliation_strings":["The University of Manchester"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Manchester","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054970499","display_name":"Ben Parslew","orcid":"https://orcid.org/0000-0002-0070-488X","observed_orcids":["https://orcid.org/0000-0002-0070-488X"]},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ben Parslew","raw_affiliation_strings":["The University of Manchester"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Manchester","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031110329","display_name":"M.J. Roy","orcid":"https://orcid.org/0000-0002-6558-4903","observed_orcids":["https://orcid.org/0000-0002-6558-4903"]},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Matthew Roy","raw_affiliation_strings":["The University of Manchester"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Manchester","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072748244","display_name":"Katherine Helen Joy","orcid":"https://orcid.org/0000-0003-4992-8750","observed_orcids":["https://orcid.org/0000-0003-4992-8750"]},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Katherine Joy","raw_affiliation_strings":["The University of Manchester"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Manchester","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"last","author":{"id":null,"display_name":"Hazem Az Eldin","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hazem Az Eldin","raw_affiliation_strings":["The University of Manchester"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Manchester","institution_ids":["https://openalex.org/I28407311"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I28407311"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.52377282,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1535","last_page":"1543"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.5054000020027161,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.5054000020027161,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.4424000084400177,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.010099999606609344,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lunar-exploration","display_name":"lunar exploration","score":0.9150000214576721},{"id":"https://openalex.org/keywords/lunar-regolith","display_name":"lunar regolith","score":0.8479999899864197},{"id":"https://openalex.org/keywords/hares","display_name":"hares","score":0.4429999887943268},{"id":"https://openalex.org/keywords/lunar-rover","display_name":"lunar rover","score":0.5569999814033508},{"id":"https://openalex.org/keywords/thrust-control","display_name":"thrust control","score":0.6029999852180481},{"id":"https://openalex.org/keywords/self-righting","display_name":"self-righting","score":0.9750000238418579},{"id":"https://openalex.org/keywords/low-order-dynamic-model","display_name":"low-order dynamic model","score":0.7379999756813049},{"id":"https://openalex.org/keywords/lunar-lava-tubes","display_name":"lunar lava tubes","score":0.6899999976158142}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6400030851364136},{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.6391119956970215},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5880824327468872},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4757090210914612},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22921308875083923},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.20078101754188538},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.52202/078357-0175","doi":"https://doi.org/10.52202/078357-0175","is_oa":false,"landing_page_url":"https://doi.org/10.52202/078357-0175","pdf_url":null,"source":{"id":"https://openalex.org/S7407096136","display_name":"IAF Space Exploration Symposium","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IAF Space Exploration Symposium","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:openaire/8ac2e6e0-9e17-4493-84fe-1560c52485c1","doi":null,"is_oa":true,"landing_page_url":"https://research.manchester.ac.uk/en/publications/8ac2e6e0-9e17-4493-84fe-1560c52485c1","pdf_url":"https://pure.manchester.ac.uk/ws/files/1900867161/IAC_2024_Manuscript_-_author_Accepted.pdf","source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Lo, J, Smith, K S A U, Parslew, B, Roy, M, Joy, K & Az Eldin, H 2025, A Dynamic Analysis of Wheeled Jumping Robot for Lunar Exploration. in International Astronautical Congress: 75th International Astronautical Congress (IAC), Milan, Italy, 14-18 October 2024.. International Astronautical Federation, IAF, pp. 1535-1543. https://doi.org/10.52202/078357-0175","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:pure.atira.dk:openaire/8ac2e6e0-9e17-4493-84fe-1560c52485c1","doi":null,"is_oa":true,"landing_page_url":"https://research.manchester.ac.uk/en/publications/8ac2e6e0-9e17-4493-84fe-1560c52485c1","pdf_url":"https://pure.manchester.ac.uk/ws/files/1900867161/IAC_2024_Manuscript_-_author_Accepted.pdf","source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Lo, J, Smith, K S A U, Parslew, B, Roy, M, Joy, K & Az Eldin, H 2025, A Dynamic Analysis of Wheeled Jumping Robot for Lunar Exploration. in International Astronautical Congress: 75th International Astronautical Congress (IAC), Milan, Italy, 14-18 October 2024.. International Astronautical Federation, IAF, pp. 1535-1543. https://doi.org/10.52202/078357-0175","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4407017563.pdf","grobid_xml":"https://content.openalex.org/works/W4407017563.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4404521200","https://openalex.org/W7084143910","https://openalex.org/W4403136674","https://openalex.org/W7128722896","https://openalex.org/W3211361588","https://openalex.org/W2625349514","https://openalex.org/W7098958611","https://openalex.org/W4401245872","https://openalex.org/W4392538344","https://openalex.org/W2726335025"],"abstract_inverted_index":{"In":[0,245],"recent":[1],"space":[2],"missions,":[3],"efforts":[4],"to":[5,89,92,172,192,279,300],"sustain":[6],"human":[7],"presence":[8],"on":[9,46,101,106,113,179,257,271,292],"the":[10,25,50,63,75,79,108,130,141,146,152,168,174,199,203,208,223,229,240,243,246,248,282,295,303,319,323,327],"Moon":[11,153],"have":[12,43],"identified":[13],"lunar":[14,136,163,177,262],"lava":[15],"tubes":[16],"as":[17,276],"potential":[18],"shelters":[19],"for":[20,81,151,162,195,216],"humans":[21],"and":[22,143,202,221,228,232,235,264,268,313],"instruments.":[23],"However,":[24,98,275],"knowledge":[26],"about":[27],"these":[28,38,56,237],"geological":[29],"formations":[30],"in":[31,118,125,281,309,333],"non-terrestrial":[32],"conditions":[33],"remains":[34],"limited.":[35],"To":[36],"explore":[37],"areas,":[39],"planetary":[40],"surveillance":[41],"missions":[42],"traditionally":[44],"relied":[45],"wheeled":[47,156,190],"rovers.":[48],"Nonetheless,":[49],"size":[51,64],"of":[52,65,132,145,176,242,254,322],"obstacles":[53,73],"over":[54],"which":[55,329],"devices":[57],"can":[58,71],"tackle":[59],"is":[60,214],"limited":[61,124],"by":[62,207],"their":[66],"wheels.":[67,209],"Alternatively,":[68],"jumping":[69,102,157,180,187,194,290],"robots":[70,103],"overcome":[72],"using":[74],"reaction":[76],"force":[77],"from":[78],"substrate":[80,117,305],"propulsion.":[82],"The":[83,182,316],"best":[84],"previous":[85,99],"example":[86],"has":[87,104],"shown":[88],"jump":[90,109,226],"up":[91],"100":[93],"times":[94],"its":[95],"own":[96],"size.":[97],"research":[100],"focused":[105],"optimising":[107],"height":[110],"or":[111],"range":[112,227],"an":[114],"idealised":[115],"rigid":[116,258],"controlled":[119],"environments.":[120],"These":[121],"approaches":[122],"are":[123],"that":[126],"they":[127],"often":[128],"neglect":[129],"complexities":[131],"granular":[133,304],"substrates":[134],"like":[135],"regolith.":[137],"This":[138,307],"work":[139],"presents":[140],"design":[142,170,287,335],"development":[144],"Hopping":[147],"And":[148],"Rolling":[149],"Explorer":[150],"(HARE),":[154],"a":[155,185,219,251,272],"robot":[158],"prototype":[159,183,249],"specifically":[160],"designed":[161],"exploration.":[164],"It":[165],"also":[166],"elucidates":[167],"underlying":[169],"philosophy":[171],"address":[173],"influence":[175],"regolith":[178],"dynamics.":[181],"integrates":[184],"spring-driven":[186],"mechanism":[188],"with":[189,198,239,302],"mobility":[191],"enable":[193],"long-range":[196],"traversal":[197],"thrust":[200],"control":[201],"self-righting":[204,269],"abilities":[205],"provided":[206],"A":[210],"low-order":[211],"dynamic":[212],"model":[213],"formulated":[215],"sizing":[217],"such":[218],"system":[220,230],"characterising":[222],"relationship":[224],"between":[225],"mass":[231],"gravitational":[233],"acceleration":[234],"how":[236],"change":[238],"scales":[241],"components.":[244],"experiments,":[247],"achieved":[250],"take-off":[252],"velocity":[253],"2.31":[255],"ms-1":[256],"ground":[259,283,297],"under":[260],"simulated":[261],"gravity":[263],"performed":[265],"traversal,":[266],"steering":[267],"manoeuvres":[270],"sandy":[273],"substrate.":[274],"anticipated":[277],"due":[278],"limitations":[280],"contact":[284,298],"interface":[285],"(\u2018foot\u2019)":[286],",":[288],"during":[289],"tests":[291],"loose":[293],"sand,":[294],"spring":[296],"failed":[299],"interact":[301],"effectively.":[306],"resulted":[308],"inefficient":[310],"energy":[311],"transfer":[312],"unsuccessful":[314],"jumps.":[315],"finding":[317],"highlights":[318],"critical":[320],"role":[321],"robot's":[324],"mechanical":[325],"interfacewith":[326],"substrate,":[328],"will":[330],"be":[331],"addressed":[332],"future":[334],"iterations.":[336]},"counts_by_year":[],"updated_date":"2026-10-26T11:51:55.731654","created_date":"2025-02-01T00:00:00"}