Kinematic Adaptation in Space Robotics Inspiredby Animal Righting Reflexes

摘要

Robotic arm-equipped satellites play a crucial role in modern space operations, including orbital servicing, debris removal, satellite assembly, and in-space repairs. These systems must operate in constrained environments like microgravity, where traditional motion strategies often face limitations in stability, adaptability, and maneuverability. As space missions become increasingly complex, efficient operational strategies for robotic arms in zero-gravity are essential. This study explores bio-inspired control strategies by analyzing the movement patterns of animals such as lizards and squirrels, whose righting reflexes and postural stabilization techniques offer valuable insights for robotic motion in space. Given their morphological similarities to robotic systems, this research focuses on extracting motion patterns from animal behavior using computer vision techniques by capturing body segment movements, calculating relative angles, and generating time-series trajectories that replicate natural motion. Identifying key motion patterns and movement ranges lays the foundation for developing bio-inspired control strategies that enhance the adaptability of robotic arm-equipped satellites.