Tutorial Review of Bio-Inspired Approaches to Robotic Manipulation for Space Debris Salvage.
cerebellum
on-orbit servicing
predictive forward models
preflex
space debris mitigation
space salvage
viscoelastic muscle
Journal
Biomimetics (Basel, Switzerland)
ISSN: 2313-7673
Titre abrégé: Biomimetics (Basel)
Pays: Switzerland
ID NLM: 101719189
Informations de publication
Date de publication:
12 May 2020
12 May 2020
Historique:
received:
09
03
2020
revised:
30
04
2020
accepted:
01
05
2020
entrez:
16
5
2020
pubmed:
16
5
2020
medline:
16
5
2020
Statut:
epublish
Résumé
We present a comprehensive tutorial review that explores the application of bio-inspired approaches to robot control systems for grappling and manipulating a wide range of space debris targets. Current robot manipulator control systems exploit limited techniques which can be supplemented by additional bio-inspired methods to provide a robust suite of robot manipulation technologies. In doing so, we review bio-inspired control methods because this will be the key to enabling such capabilities. In particular, force feedback control may be supplemented with predictive forward models and software emulation of viscoelastic preflexive joint behaviour. This models human manipulation capabilities as implemented by the cerebellum and muscles/joints respectively. In effect, we are proposing a three-level control strategy based on biomimetic forward models for predictive estimation, traditional feedback control and biomimetic muscle-like preflexes. We place emphasis on bio-inspired forward modelling suggesting that all roads lead to this solution for robust and adaptive manipulator control. This promises robust and adaptive manipulation for complex tasks in salvaging space debris.
Identifiants
pubmed: 32408615
pii: biomimetics5020019
doi: 10.3390/biomimetics5020019
pmc: PMC7345424
pii:
doi:
Types de publication
Journal Article
Review
Langues
eng
Déclaration de conflit d'intérêts
There are no conflicts of interest
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