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

作　　者：Qingxing XI Zhijun CHEN Ke YIN Feng GAO 

机构地区：[1]State Key Laboratory of Mechanical System and Vibration,School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China [2]National Key Laboratory of Aerospace Mechanism,Institute of Aerospace System Engineering Shanghai,Shanghai 201108,China

出　　处：《Frontiers of Mechanical Engineering》2024年第5期1-14,共14页机械工程前沿（英文版）

基　　金：supported by the National Natural Science Foundation of China(Grant No.92248303);the Startup Fund for Young Faculty at Shanghai Jiao Tong University.

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.

关 键 词：six-legged mobile repetitive lander soft-landing method compliance control optimal force control complex terrains 

分 类 号：V476[航空宇航科学与技术—飞行器设计]