Motion control of multi-limbed robots for asteroid exploration missions
Motion control of multi-limbed robots for asteroid exploration missions
复制标题
小行星探测任务中多肢机器人的运动控制
DOI：
10.1109/robot.2009.5152882
复制
发表时间：
2009
期刊：
影响因子：
--
通讯作者：
Kazuya Yoshida
中科院分区：
文献类型：
--
作者：
M. Chacin;A. Vargas;Kazuya Yoshida
由于最近发射了探索这种低重力天体的任务，对小行星研究的兴趣有所增加。由于其复杂性，利用移动机器人系统进行近表面分析的研究很少受到重视。在本文中，作者提出了一种基于模拟微重力环境中摩擦力检测的四肢机器人系统的运动研究。研究了微重力环境对机器人系统运动动力学的影响，提出了一种生成柔顺运动步态的算法。实验结果表明，该控制系统能够在运动过程中保持接触平衡。
The interest on the study of asteroids has increased due to the recent missions that have been sent to explore such low gravity bodies. Due to its complexity, little attention has been given to close surface analysis by a mobile robotic system. In this paper, the authors present a study on the locomotion of limbed robotic systems based on the detection of friction force in an emulated microgravity environment. The issues rose by the microgravity environment and its effect on the dynamics of such robotic system during motion are addressed, and an algorithm to generate compliant motion gaits is presented. Experimental results show that the control system is capable of maintaining balanced contacts during motions.