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

页数：14