Article
Version 1
Preserved in Portico This version is not peer-reviewed
Bio–Inspired Space Robotics
Version 1
: Received: 31 December 2023 / Approved: 2 January 2024 / Online: 3 January 2024 (02:30:47 CET)
A peer-reviewed article of this Preprint also exists.
Sands, T. Bio-Inspired Space Robotic Control Compared to Alternatives. Biomimetics 2024, 9, 108. Sands, T. Bio-Inspired Space Robotic Control Compared to Alternatives. Biomimetics 2024, 9, 108.
Abstract
Controlling robots in space with necessarily low material and structural stiffness is quite challenging at least in part due to the resulting very low structural resonant frequencies. The frequencies are sometimes so low, the vary act of controlling the robot with medium or high bandwidth controllers lead to excitation of resonant vibrations. Biomimetics or biomimicry emulates models, systems, and elements of nature for solving such complex problems. Recent seminal publications have re-introduced the viability of optimal command shaping, and one recent instantiation mimics baseball pitching to propose control of highly flexible space robots. The readership will find a perhaps dizzying array of thirteen decently performing alternatives in the literature but could be left bereft selecting a method(s) deemed to be best suited for a particular application. Bio–inspired control of space robotics is presented in a quite substantial (perhaps not comprehensive) comparison, and the conclusions of the study indicate the top three performing methods based on minimizing control effort (i.e., fuel) usage, tracking error mean, and tracking error deviation include.
Keywords
bioinspiration; biomimetics; robotics; control; bio-inspired locomotion; bio-robotics; bio-inspired robots; biomechanics
Subject
Engineering, Mechanical Engineering
Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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