Journal of Astronautics ›› 2022, Vol. 43 ›› Issue (9): 1186-1195.doi: 10.3873/j.issn.1000-1328.2022.09.006

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Stability Criterion and Creep Gait of a Space Robot with Adhesive Feet

TANG Ling, WANG Kepeng, ZHANG Bin, WEI Shimin   

  1. School of Artificial Intelligence, Beijing University of Posts and Telecommunications, Beijing 100083, China
  • Received:2022-03-15 Revised:2022-06-01 Online:2022-09-15 Published:2022-09-15

Abstract: For the application requirements of the adhesive feet crawling robot in space on orbit servicing missions, a kind of robot configuration is proposed to realize crawling through the adhesion of feet and abdomen. The stability principle of space robot with adhesive feet is analyzed, and a stability criterion of space adhesive feet crawling robot is derived based on the balance of robot adhesion and desorption torque. On this basis, the instability of 3+1 gait of the space adhesive feet robot is analyzed, and a stable gait suitable for adhesive feet crawling robot in space microgravity environment is planned, namely creep gait. Finally, the effectiveness of the proposed stability criterion and the planned creep gait is verified by simulation.

Key words: Space foot robot, Adhesion, Stability criterion, Creep gait, On orbit servicing

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