模仿蜥蜴空中翻正，提升太空机械臂的动态转向能力
Adapting Biological Reflexes for Dynamic Reorientation in Space Manipulator Systems
- 从蜥蜴空中翻正动作提取运动轨迹，作为太空机械臂控制参考
- 多目标优化分析揭示关键行为目标及其重要性权重
- 为未来太空任务提供可解释、自适应的机器人控制新思路
安装在航天器上的空间机械臂系统（SMSs）在轨装配、卫星维修和碎片清除中至关重要。然而，在微重力环境下，机械臂与航天器基座间的动力耦合使控制极为困难。本文借鉴动物（尤其是蜥蜴）的空中翻正反射，通过计算机视觉从高速视频中提取其翻正运动轨迹，并在多目标优化框架下分析行为目标及其相对重要性。所得运动轨迹被用作SMS控制的参考轨迹，由基准控制器进行跟踪。研究结果推动了将进化生物行为转化为可解释、自适应的空间机器人控制策略，对提升未来任务的机动性与鲁棒性具有重要意义。
原文摘要 · Abstract (English)
Robotic arms mounted on spacecraft, known as space manipulator systems (SMSs), are critical for enabling on-orbit assembly, satellite servicing, and debris removal. However, controlling these systems in microgravity remains a significant challenge due to the dynamic coupling between the manipulator and the spacecraft base. This study explores the potential of using biological inspiration to address this issue, focusing on animals, particularly lizards, that exhibit mid-air righting reflexes. Based on similarities between SMSs and these animals in terms of behavior, morphology, and environment, their air-righting motion trajectories are extracted from high-speed video recordings using computer vision techniques. These trajectories are analyzed within a multi-objective optimization framework to identify the key behavioral goals and assess their relative importance. The resulting motion profiles are then applied as reference trajectories for SMS control, with baseline controllers used to track them. The findings provide a step toward translating evolved animal behaviors into interpretable, adaptive control strategies for space robotics, with implications for improving maneuverability and robustness in future missions.
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