Trajectory optimization and control of multipod robots in on-orbit servicing operations

This paper presents a trajectory optimization method applied to multipod robots performing extravehicular activities. The presented approach automatically determines the leg motion required to achieve a desired location on the exterior of the target spacecraft. A 3D camera is located at the robot body, and a 3D map of the target spacecraft is generated from the point cloud. A trajectory optimization is obtained given the system's initial and desired state, the manoeuvre's total duration, and the number of steps for each leg. From this information, the trajectory optimization approach generates the legs trajectories and contact forces required to guide the multipod robot. Numerical simulations assess the applicability of the proposed strategy in typical operations that can potentially be performed in an extravehicular activity scenario.