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Soft-landing control for a six-legged mobile repetitive lander
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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.
six-legged mobile repetitive landersoft-landing methodcompliance controloptimal force controlcomplex terrains
Qingxing XI、Zhijun CHEN、Ke YIN、Feng GAO
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State Key Laboratory of Mechanical System and Vibration,School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240 China
National Key Laboratory of Aerospace Mechanism,Institute of Aerospace System Engineering Shanghai,Shanghai 201108,China
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