Gait-Level Motion Design and Evaluation Framework for Grasp-Based Dynamic Locomotion in Microgravity

Abstract:Locomotion in microgravity often relies on sparsely and irregularly arranged anchors, motivating grasp-based mobility with multiple limbs. In this setting, dynamic traversal requires consecutive anchored interactions under coupled dynamic and kinematic constraints, yet the effects of gait-level motion design on locomotion feasibility and performance remain insufficiently understood. This paper formulates the feasibility and performance objectives for grasp-based dynamic locomotion and develops a gait-level parameter-metric framework that relates motion parameters to corresponding evaluation metrics. A physics-based simulation study instantiates the framework across two quadruped morphologies in randomized three-dimensional anchor environments. Controlled variations in gait-level parameters reveal broadly consistent effects on contact support, motion-induced loading, kinematic feasibility, actuation demand, and traversal time across the two robot realizations. These findings suggest that the investigated gait-level parameters provide an interpretable basis for analyzing feasibility and performance trade-offs.

Robotics (cs.RO); Systems and Control (eess.SY)

arXiv:2605.21704 [cs.RO]

(or arXiv:2605.21704v2 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2605.21704 Focus to learn more arXiv-issued DOI via DataCite

arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.

Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.

Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.