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Strong Generalization Adhesive Climbing Strategy Generation Method for Space Robot
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Zhexuan CHEN1, 2, Fucheng LIU1, 2, Jun SUN1, 2, Xinpeng DI1, 2, Yuchao YAN1, 2, Senchun YAO1, 2
Flight Control & Detection | 2025, 8(5) : 11 - 24
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Flight Control & Detection | 2025, 8(5): 11-24
• Navigation, Guidance and Control Technology •
Strong Generalization Adhesive Climbing Strategy Generation Method for Space Robot
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Zhexuan CHEN1, 2, Fucheng LIU1, 2, Jun SUN1, 2, Xinpeng DI1, 2, Yuchao YAN1, 2, Senchun YAO1, 2
Affiliations
  • 1Shanghai Aerospace Control Technology Institute, Shanghai 201109
  • 2Shanghai Key Laboratory of Aerospace Intelligent Control Technology, Shanghai 201109
doi: 10.20249/j.cnki.2096-5974.2025.05.002
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The space adhesive climbing robot can be attached to the outer surface of the spacecraft and complete the external inspection and operation tasks independently,which is an important way to realize the long-term unmanned in-orbit service of the spacecraft. In order to solve the problem of insufficient generalization ability of the control strategy of the adhesive climbing robot after unexpected changes in spacecraft surface characteristics,the mechanism of adhesion force is constructed under the framework of reinforcement learning,and the intensive reward function is constructed by combining the “follow-update”mechanism of the foot contact force,and the proximal policy optimization-clip (PPO-clip)algorithm is used to train and generate the adhesion crawling strategy of the robot in microgravity environment. The results show that the strategy convergence rate increases by about 14.81% under the “follow-update”mechanism of foot contact force. The climbing strategy obtained can maintain the adhesion stability of the robot on a flat surface,and has the ability to reach the target position with an arrival error of less than 0.1m. On surfaces with an unpredictable height change of ±40mm and an unpredictable slope change of ±18°,the climbing strategy obtained on the flat surface can achieve stable adhesion climbing of the robot.

space climbing robot  /  microgravity  /  foot adhesion  /  reward design  /  reinforcement learning
Zhexuan CHEN, Fucheng LIU, Jun SUN, Xinpeng DI, Yuchao YAN, Senchun YAO. Strong Generalization Adhesive Climbing Strategy Generation Method for Space Robot[J]. Flight Control & Detection, 2025 , 8 (5) : 11 -24 . DOI: 10.20249/j.cnki.2096-5974.2025.05.002
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doi: 10.20249/j.cnki.2096-5974.2025.05.002
  • Online Date：2026-04-23
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Affiliations
    1Shanghai Aerospace Control Technology Institute, Shanghai 201109
    2Shanghai Key Laboratory of Aerospace Intelligent Control Technology, Shanghai 201109
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表12种不同金属材料的力学参数
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Number of
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Number of
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Percentage of
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鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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