Astronomers have been able to build a 3D model of Kleopatra and its two moons from two years' of observations collected by the Very Large Telescope (VLT).
On February 1, the object will come "very close" to our planet.
The finding could shed light on the long-debated issue of when Saturn's rings and moons formed.
At its closest, the planet's orbit will take it within around 398 million miles of Earth on June 12.
Scientists say a new telescope could help them discover more of these tiny moons.
Scott Sheppard's team is using a supercomputer to simulate 79 discovered moons of Jupiter over billions of years to learn how often Valetudo would collide with its neighbors.
Scientists may have been thinking about moons formed by impacts across the solar system in the wrong way.
There are about 400 subglacial lakes around the world, but these are the first scientists believe to be salty.
The numbers contradict everything we know about how moons form.
Huge collisions have huge consequences.
As a triumphant mission to Saturn ends, its lead imaging scientist recalls her favorite photographs and moments.