Graph-Based Simultaneous Path and Foothold Planning for Multi-Limbed Intra-Vehicular Robots in Space Stations

2026-09-28

AI Summary

This study addresses the cooperative planning challenge for multi-limbed robots on space stations arising from limited discrete grasping points. We propose a joint optimization method that simultaneously plans motion paths and footholds. By constructing a synchronous planning framework grounded in graph theory, our approach integrates motion planning with operational reachability constraints, enabling the efficient search for feasible gait sequences while satisfying manipulation requirements. Validation through simulations using a three-dimensional model of the International Space Station demonstrates that the proposed method successfully generates stable and efficient motion plans under microgravity conditions. Ultimately, this work provides an effective solution for the autonomous locomotion of space robots operating within complex environments.

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.

Problem

• multi-limbed robots
• motion planning
• foothold planning
• space stations
• microgravity

Innovation

• Graph-based planning
• Simultaneous path and foothold planning
• Multi-limbed robots
• Microgravity locomotion
• Manipulability constraints