An optimization algorithm for planning the motion of a humanoid robot during extravehicular activities is presented in this paper. The algorithm can schedule and plan the movements of the two robotic arms to move the humanoid robot by using the handrails present outside the International Space Station. The optimization algorithm considers the eventual constraints imposed by the topology of the handrails and calculates the sequence of grasping and nongrasping phases needed to push and pull the robot along the handrails. A low-level controller is also developed and used to track the planned arms and end-effectors trajectories. Numerical simulations assess the applicability of the proposed strategy in three different typical operations that potentially can be performed in an extravehicular activity scenario.

本文提出了一种拟人机器人在舱外活动中的运动规划优化算法。该算法可以通过使用国际空间站外的扶手来调度和计划两个机械臂的运动，以移动人形机器人。优化算法考虑了扶手拓扑施加的最终约束，并计算了沿着扶手推动和拉动机器人所需的抓取和非抓取阶段的顺序。还开发了一个低级控制器并用于跟踪计划的手臂和末端执行器的轨迹。数值模拟评估了所提出的策略在三种不同的典型操作中的适用性，这些操作可能可以在舱外活动场景中执行。