SpaceHopper performing reorientation and jumping in zero-gravity.

Abstract

In this work, we evaluate SpaceHopper, a small-scale, three-legged robot designed for low-gravity exploration, focusing on its performance in zero-gravity conditions. Originally introduced for its unique jumping locomotion and leg-based attitude control, SpaceHopper employs Deep Reinforcement Learning for dynamic maneuvering. Our zero-gravity tests during a European Space Agency parabolic flight campaign confirm the robot's ability to adjust its attitude and achieve specific velocities through jumping. This research marks a significant advancement in robotic mobility for space exploration, offering promising applications in future extraterrestrial missions.

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