Online trajectory planning and control for humanoid space climbing robot

HSCR (Humanoid space climbing robot) is developed to substitute/help the astronauts in the dangerous space. It can carry out many tasks outside/inside die space station, and is easy to manipulate because of its humanoid style. In order to obtain die weightless environment for HSCR in space, a kind of passive mechanism was designed to help robot implement die space climbing movements on the earth. This paper designed a HSCR system and presented a kind of online trajectory planning method. A kind of hybrid position/force control and vision-based online self-calibration methods were proposed for the errors in vision system. The thermal design is adopted at joint thermal control for the great change of temperature in space. Finally, die experiments validated the system design and die presented metiiods.