The impact of robots is changing fast, as these leave confined spaces and fixed bases, and move in environments such as rough terrain or space orbits. For such robots, dynamics and control play a critical role in their stability and performance.
This talk will focus on aspects of our work in legged robots for the Earth and the planets, and in orbital space robotics. Both share characteristics, such as coupled and complex dynamics, nonholonomic behavior, and under-actuation, making their planning and control very demanding.
On-orbit servicing tasks such as robotic refuelling, berthing/docking and capture are challenging due to the lack of fixed bases and gravitational loading, and extreme dynamic coupling. Planetary exploration requires controlled mobility that can be provided by wheels or legs. Locomotion challenges include low gravity conditions of terrestrial bodies such as the moon or Mars, and harsh or even extreme terrains.
Challenges are tackled by studies and experiments. The lack of access to actual space conditions is addressed by careful modelling and control, and zero-gravity emulators. On the other hand, legged robots can hop/walk/run on a treadmill. Pertinent analysis and experiments will be discussed and results will be presented.