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

Yudai Yuguchi, Kenji Nagaoka, Kazuya Yoshida

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2016 IEEE International Conference on Robotics and Automation, ICRA 2016
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2822-2827
ページ数6
ISBN(電子版)9781467380263
DOI
出版ステータスPublished - 2016 6 8
イベント2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
継続期間: 2016 5 162016 5 21

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2016-June
ISSN(印刷版)1050-4729

Other

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

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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