外观
论文arXiv 2609.350001 个月前
面向空间站多肢舱内机器人的基于图的路径与落足点同步规划
原文链接：Graph-Based Simultaneous Path and Foothold Planning for Multi-Limbed Intra-Vehicular Robots in Space Stations（arXiv 2609.35000 · 发布日期：2026-09-28）
Graph-Based Simultaneous Path and Foothold Planning for Multi-Limbed Intra-Vehicular Robots in Space Stations
针对空间站多肢舱内机器人抓附位置离散受限问题，提出基于图论的路径与落足点同步规划，并在ISS舱内3D模型仿真验证。
核心要点
- 空间站机器人辅助作业可减轻航天员负担，并提升在轨活动效率。
- 抓附式多肢舱内机器人可利用扶手、座椅轨道等既有接口稳定运动与操作。
- 方法基于图论同步搜索路径与落足点，生成满足可操作性约束的可行姿态序列。
- 在ISS舱内三维模型仿真中验证，可生成可行且高效的舱内移动计划。
验证范围与局限：验证范围为ISS舱内三维模型仿真。
英文摘要 (Abstract)
Robot-aided operations in space stations are essential for reducing the workload of astronauts and improving the efficiency of on-orbit activities. Multi-limbed intra-vehicular robots (MLIVRs) equipped with grappling end-effectors have emerged as a promising solution, as they can securely grasp pre-existing interfaces, such as handrails and seat tracks, thereby enabling stable locomotion and forceful manipulation in microgravity environments. Since graspable locations on these interfaces are spatially limited and discretely distributed, motion planning for MLIVRs must be addressed jointly with foothold planning. This paper presents a simultaneous path and foothold planning framework based on graph theory for MLIVRs. The proposed method efficiently searches for feasible stance sequences for a multi-limbed robot while satisfying manipulability constraints. The effectiveness of the proposed framework is validated through simulations in a 3D model of the International Space Station (ISS) cabin, demonstrating its capability to generate feasible and efficient locomotion plans in realistic intra-vehicular environments.
作者：Masazumi Imai, Kentaro Uno, Toshinori KUWAHARA, Kazuya Yoshida
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