Soft-landing control for a six-legged mobile repetitive lander

被引：0
|
作者：
Xi, Qingxing [1 ]
Chen, Zhijun [1 ]
Yin, Ke [2 ]
Gao, Feng [1 ]
机构：
[1] Shanghai Jiao Tong Univ, Sch Mech Engn, State Key Lab Mech Syst & Vibrat, Shanghai 200240, Peoples R China
[2] Inst Aerosp Syst Engn Shanghai, Natl Key Lab Aerosp Mech, Shanghai 201108, Peoples R China
来源：
FRONTIERS OF MECHANICAL ENGINEERING | 2024年 / 19卷 / 05期
基金：
中国国家自然科学基金;
关键词：
six-legged mobile repetitive lander; soft-landing method; compliance control; optimal force control; complex terrains;
D O I：
10.1007/s11465-024-0802-6
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The primary mode of extraterrestrial exploration is a robotic system comprising a lander and a rover. However, the lander is immovable, and the rover has a restrictive detection area because of the difficulties of reaching complex terrains, such as those with deep craters. In this study, a six-legged mobile repetitive lander with landing and walking functions is designed to solve these problems. First, a six-legged mobile repetitive lander and its structure are introduced. Then, a soft-landing method based on compliance control and optimal force control is addressed to control the landing process. Finally, the experiments are conducted to validate the soft-landing method and its performances. Results show that the soft-landing method for the six-legged mobile repetitive lander can successfully control the joint torques and solve the soft-landing problem on complex terrains, such as those with steps and slopes.
引用
收藏
页数：14
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