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Keyword: Alkylaminophenol (1)	1 Apr 2025	Run
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A space walking robot and its ground simulator^*
- Gang-Feng Liu,
- Chang-Le Li,
- Jie Zhao, and
- Li-Yi Li
Mechanics and Mechanical Engineering14 Jul 2016
Preview Abstract
To validate the principle of robot walking and manipulation in the future space tasks, a 7-DOF space robotic arm (SRA), its end effecter (EE) and grapple fixture (GF) were built. Also, a ground simulator was set up to provide a microgravity condition for the robot space grasping and walking tasks. We presented a Cartesian impedance control method for the SRA based on the feedback of a 6D force/torque sensor on the EE. Experiments proved the effectiveness and safety of the space walking robot and its ground simulator.

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