A method on trajectory plan for humanoid space robot

The humanoid space robot is explored to substitute the astronauts for working in the dangerous space environment, and it can implement the tasks outside/inside the space satation. In order to simulate the weightless environment in space, we design a kind of passive mechanism, and with this, the robot can simulate the movement in space. On the base of this passive mechanism, in order to make the space robot work well in the simulated space environment, this paper presents a kind of online trajectory plan method for space climbing robot. Lastly, we validated the method we proposed by experiment on our experiment system, the robot can achieve climbing mission steadily and correctly on the designed passive mechanism by the presented trajectory planning method.