Hopping Rover "minerva" for Asteroid Exploration

The Institute of Space and Astronautical Science (ISAS) of Japan will launch an engineering test spacecraft. ILlLlSES-C to a near Earth asteroid NEREUS (4660) in 1001 The MlrSES-C' spacecraft will perform the world tirst sample and return attempt from the asteroid Y EKECS A science-equipped robot which nioves on the surface of the asteroid would provide an in-situ scientific observation S o the authors have proposed a small robotic lander for the MUSES-C mission. This robot is called "MINERVA" (MlcroINano Experimental Robot \'chicle tbrAstel-oid). which has the mobility by hopping and can take images on the asteroid surface Currently LIINEKI'A lemains in a n optional payload of the VIL:SES-(' spacecraft The final decision will be made lust before the launch of the spacecraft whether it is ~ncluded in the spacecraft So we are developing 211NERV4 according with the MUSES-C' milestones In this paper. the mission scenario, the mobility mechanism, the microgr-a~ity experiments bv the test model and the prototye model of MINEKV.4 are presented 111 recent -Leal s. rnissions for exploring small bodies such as asteroids. comets. and meteorites have received ignlticant attention across the world I t is believed that the ear-th-type planets (Mercury. Venus, Earth, Mars tbtc ) u el-e ti)^ rned by s~nall bodies Hence the studies on these small bodies would throw a light upon the origin and e\olution ol'the earth-type planets Rendenous and sarnpie Ireturn missions for asteroids. specially, would be cyected to pnn,ide extensive rrenards from both technological and scientific points of views Especiallyq in-situ surface observations of an asteroid have been ot great interest to planetary science I he In.it~tute of Space and Astronaut~cal Sc~ence (IS AS) of lapan ~ I J I la~mch an engineering test spacec~aft iL4LISES-C to a near Earth asteroid NEREUS (3660) in 2002[1][2] The MUSES-C spacecraft will perform the world first sample and return attempt from the asteroid NEREUS A science-equipped robot which moves on the surface of the asteroid would provide an in-situ observation [3][4][5] So the authors have proposed a small robotic lander for MUSES-C mission[6]. This robot is called "MITVERVA" (Mlcro/Nano Experimental Robot Vehicle for Asteroid), which has mobility system by hopping [7][8] Currently MINERVA is an optional payload of the MUSES-C spacecraft Its realization is dependent on the total mass of the MUSES-C spacecrafi The final decision will be made just before the launch of MI.!SES-C spacecrafi whether it is included in the spacecraft So we are developing the robot according \kith the XIUSES-C milestones In section 2. of this paper, the mission scenario of MINERVA is presented Section -3 describes the rnobility system which is newlv proposed for explorations on the surface of small planetary bodies In section 4, the microgravity experiments by the test model is detailed. Section 5 shohs the developing prototype model of MINERVA which is to be manufactured and tested in the near future