多足机器人在微重力下通过抓握锚点实现动态移动，提升稳定性与效率。
Motion Design for Grasp-Based Dynamic Locomotion in Microgravity
- 设计可调参数的运动规划框架，优化步态与姿态
- 增大接触力空间、减少冲击性全身动力学，提升移动性能
- 适用于需要六维操作的太空机器人任务
微重力环境下的移动常依赖稀疏且不规则分布的锚点，促使采用多肢体抓握式移动。在此场景中，动态移动需在耦合的动力学与运动学约束下，同时调控锚点交互与全身协调。本文针对多肢体机器人在微重力环境下基于抓握的动态移动提出设计洞见，聚焦于需实现六维肢体操作以建立与候选锚点接触的场景。研究参数包括步态模式、步幅、移动速度与标准姿态。提出一个可参数化的运动规划框架，支持上述参数变化，并评估其在稳定性与驱动需求方面的表现。采用两种典型四足形态在物理仿真中进行验证。结果表明，扩大可行接触力空间并削弱冲动性全身动力学可显著改善移动性能。这些发现为微重力环境下多肢体系统的接触配置选择与全身协调策略提供指导。
原文摘要 · Abstract (English)
Locomotion in microgravity often relies on sparsely and irregularly arranged anchors, motivating grasp-based mobility with multiple limbs. In this setting, dynamic locomotion is feasible only through deliberate regulation of both anchored interactions and whole-body coordination under coupled dynamic and kinematic constraints. This paper presents design insights for grasp-based dynamic locomotion with multi-limbed robotic systems in microgravity, targeting scenarios that require 6D limb manipulation to establish contacts with candidate anchors. The investigated design parameters include gait pattern, stride length, locomotion speed, and nominal posture. A parameterizable locomotion planning framework is proposed to support variations of these parameters and to evaluate the resulting locomotion performance in terms of stability and actuation demand. Two representative quadruped morphologies are adopted for evaluation in physics-based simulation. The results demonstrate that enlarging the feasible contact wrench space and attenuating impulsive whole-body dynamics improve locomotion performance. These findings inform strategies for contact configuration selection and whole-body coordination in microgravity locomotion with multi-limbed systems.
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