Verification of gait control based on reaction null-space for ground-gripping robot in microgravity

Yudai Yuguchi, Kenji Nagaoka, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The surface of a minor body in space features a harsh terrain and microgravity. To explore such surfaces in detail, a robot with an appropriate moving mechanism is required. To this end, we proposed a robot that moves by gripping the surface like a rock climber. We focus on the robot's gait, where the motion of the idling arm generates the reaction force that acts on the gripper of the supporting arm. The reaction force needs to be controlled to maintain a grip without slipping. Therefore, we formulate a simultaneous control law that combines the tip position control of the idling arm with reactionless control by utilizing the reaction null-space. Moreover, the validity of the control law was confirmed by an experiment involving an air floating system under microgravity. Furthermore, a planar simulation clarified that the robot can move continuously on an irregular terrain.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2822-2827
Number of pages6
ISBN (Electronic)9781467380263
DOIs
Publication statusPublished - 2016 Jun 8
Event2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
Duration: 2016 May 162016 May 21

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2016-June
ISSN (Print)1050-4729

Other

Other2016 IEEE International Conference on Robotics and Automation, ICRA 2016
CountrySweden
CityStockholm
Period16/5/1616/5/21

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Yuguchi, Y., Nagaoka, K., & Yoshida, K. (2016). Verification of gait control based on reaction null-space for ground-gripping robot in microgravity. In 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 (pp. 2822-2827). [7487444] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2016-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2016.7487444