Overview
This research addresses motion design for grasp-based dynamic locomotion in microgravity environments using multi-limbed robotic systems. The focus is on scenarios requiring 6D limb manipulation to establish contacts with irregularly arranged anchors. A locomotion planning framework was developed to evaluate variables such as gait pattern, stride length, locomotion speed, and nominal posture, assessing their impact on stability and actuation demand.
Research Context
Locomotion in microgravity frequently relies on anchors that are sparsely and irregularly arranged. This necessitates a grasp-based mobility approach involving multiple limbs. Dynamic locomotion under these conditions requires deliberate regulation of both anchored interactions and overall whole-body coordination, subject to coupled dynamic and kinematic constraints.
Approach
The study proposes a parameterizable locomotion planning framework. This framework supports variations of specific design parameters: gait pattern, stride length, locomotion speed, and nominal posture. The evaluation within this framework focuses on assessing locomotion performance, specifically in terms of stability and actuation demand. To conduct this evaluation, two representative quadruped morphologies were adopted. These morphologies were tested within a physics-based simulation environment.
Findings
- Enlarging the feasible contact wrench space was observed to improve locomotion performance.
- Attenuating impulsive whole-body dynamics was found to enhance locomotion performance.
- These findings inform strategies for contact configuration selection in microgravity locomotion.
- The results also inform strategies for whole-body coordination in microgravity locomotion with multi-limbed systems.
Why This Matters
The insights derived from this research aid in designing effective strategies for multi-limbed robot locomotion in microgravity, particularly concerning how contacts are established and whole-body movements are coordinated. These findings specifically address performance improvements by managing contact forces and reducing dynamic impacts.