Trajectory Optimization and Control of a Free-Floating Two-Arm Humanoid Robot

Abstract

An optimization algorithm for planning the motion of a humanoid robot during extravehicular activities is presented in this paper. The algorithm can schedule and plan the movements of the two robotic arms to move the humanoid robot by using the handrails present outside the international space station. The optimization algorithm considers the eventual constraints imposed by the topology of the handrails and calculates the sequence of grasping and non-grasping phases needed to push and pull the robot along the handrails. A low-level controller is also developed and used to track the planned arms and end-effectors trajectories. Numerical simulations assess the applicability of the proposed strategy in three different typical operations that potentially can be performed in an extravehicular activity scenario.I.

Design of a Tripod LARMbot Arm

“…Today, challenges for humanoid robots can be still recognized in terms of increasing humanoid capabilities, such as walking on various unstructured terrains, preventing falls and/or including suitable protections [9][10][11][12], and advanced cognitive-based interaction with the environment and humans [13][14][15][16][17]. In current humanoids, the arms are designed with anthropomorphic structures [18][19][20], which, although replicating the characteristics and capabilities of the human arm, show limitations, especially in load capacity, due to the serial kinematic structure with revolute joints [21,22].…”

Optimum joint and trajectory tracking control of multi-axes space manipulator based on amnesia feedback controller

“…A lot of processing is required to have such a capability, which restricts its application to real-time control issues (particularly for high-speed operations). Ramon et al 36 used Jacobian pseudo inverse in order to create a new inverse free controller.…”