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Bioinspired Rigid–Flexible Coupled Adaptive Compliant Motion Control of Robot Gecko for Space Stations

This paper presents a study on bioinspired rigid-flexible coupling adaptive compliant motion control of a robot gecko with hybrid actuation for space stations. The biomimetic robot gecko is made of a rigid trunk, four motor-driven active legs with dual-degree-of-freedom shoulder joints, and four pne...

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Autores principales: Pei, Xiangli, Liu, Shuhao, Wei, Anmin, Shi, Ruizhuo, Dai, Zhendong
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10526155/
https://www.ncbi.nlm.nih.gov/pubmed/37754166
http://dx.doi.org/10.3390/biomimetics8050415
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author Pei, Xiangli
Liu, Shuhao
Wei, Anmin
Shi, Ruizhuo
Dai, Zhendong
author_facet Pei, Xiangli
Liu, Shuhao
Wei, Anmin
Shi, Ruizhuo
Dai, Zhendong
author_sort Pei, Xiangli
collection PubMed
description This paper presents a study on bioinspired rigid-flexible coupling adaptive compliant motion control of a robot gecko with hybrid actuation for space stations. The biomimetic robot gecko is made of a rigid trunk, four motor-driven active legs with dual-degree-of-freedom shoulder joints, and four pneumatic flexible pleated active attachment–detachment feet. The adaptive impedance model consists of four input parameters: the inertia coefficient, stiffness coefficient, damping coefficient, and segmented expected plantar force. The robot gecko is equipped with four force sensors mounted on its four feet, from which the normal force of each foot can be sensed in real-time. Based on the sensor signal, the variable stiffness characteristics of the feet in different states are analyzed. Furthermore, an adaptive active compliance control strategy with whole-body rigidity–flexibility-force feedback coupling is proposed for the robot gecko. Four sets of experiments are presented, including open-loop motion control, static anti-interference experiment, segmented variable stiffness experiment, and adaptative compliant motion control, both in a microgravity environment. The experiment results indicated that the presented control strategy worked well and the robot gecko demonstrates the capability of stable attachment and compliant detachment, thereby normal impact and microgravity instability are avoided. It achieves position tracking and force tracking while exhibiting strong robustness for external disturbances.
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spelling pubmed-105261552023-09-28 Bioinspired Rigid–Flexible Coupled Adaptive Compliant Motion Control of Robot Gecko for Space Stations Pei, Xiangli Liu, Shuhao Wei, Anmin Shi, Ruizhuo Dai, Zhendong Biomimetics (Basel) Article This paper presents a study on bioinspired rigid-flexible coupling adaptive compliant motion control of a robot gecko with hybrid actuation for space stations. The biomimetic robot gecko is made of a rigid trunk, four motor-driven active legs with dual-degree-of-freedom shoulder joints, and four pneumatic flexible pleated active attachment–detachment feet. The adaptive impedance model consists of four input parameters: the inertia coefficient, stiffness coefficient, damping coefficient, and segmented expected plantar force. The robot gecko is equipped with four force sensors mounted on its four feet, from which the normal force of each foot can be sensed in real-time. Based on the sensor signal, the variable stiffness characteristics of the feet in different states are analyzed. Furthermore, an adaptive active compliance control strategy with whole-body rigidity–flexibility-force feedback coupling is proposed for the robot gecko. Four sets of experiments are presented, including open-loop motion control, static anti-interference experiment, segmented variable stiffness experiment, and adaptative compliant motion control, both in a microgravity environment. The experiment results indicated that the presented control strategy worked well and the robot gecko demonstrates the capability of stable attachment and compliant detachment, thereby normal impact and microgravity instability are avoided. It achieves position tracking and force tracking while exhibiting strong robustness for external disturbances. MDPI 2023-09-06 /pmc/articles/PMC10526155/ /pubmed/37754166 http://dx.doi.org/10.3390/biomimetics8050415 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Pei, Xiangli
Liu, Shuhao
Wei, Anmin
Shi, Ruizhuo
Dai, Zhendong
Bioinspired Rigid–Flexible Coupled Adaptive Compliant Motion Control of Robot Gecko for Space Stations
title Bioinspired Rigid–Flexible Coupled Adaptive Compliant Motion Control of Robot Gecko for Space Stations
title_full Bioinspired Rigid–Flexible Coupled Adaptive Compliant Motion Control of Robot Gecko for Space Stations
title_fullStr Bioinspired Rigid–Flexible Coupled Adaptive Compliant Motion Control of Robot Gecko for Space Stations
title_full_unstemmed Bioinspired Rigid–Flexible Coupled Adaptive Compliant Motion Control of Robot Gecko for Space Stations
title_short Bioinspired Rigid–Flexible Coupled Adaptive Compliant Motion Control of Robot Gecko for Space Stations
title_sort bioinspired rigid–flexible coupled adaptive compliant motion control of robot gecko for space stations
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10526155/
https://www.ncbi.nlm.nih.gov/pubmed/37754166
http://dx.doi.org/10.3390/biomimetics8050415
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