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Robotic mobility in microgravity is necessary to expand human utilization andexploration of outer space. Bio-inspired multi-legged robots are a possiblesolution for safe and precise locomotion. However, a dynamic motion of a robotin microgravity can lead to failures due to gripper detachment caused byexcessive motion reactions. We propose a novel Reaction-Aware Motion Planning(RAMP) to improve locomotion safety in microgravity, decreasing the risk oflosing contact with the terrain surface by reducing the robot's momentumchange. RAMP minimizes the swing momentum with a Low-Reaction Swing Trajectory(LRST) while distributing this momentum to the whole body, ensuring zerovelocity for the supporting grippers and minimizing motion reactions. We verifythe proposed approach with dynamic simulations indicating the capability ofRAMP to generate a safe motion without detachment of the supporting grippers,resulting in the robot reaching its specified location. We further validateRAMP in experiments with an air-floating system, demonstrating a significantreduction in reaction forces and improved mobility in microgravity.

RAMP: Reaction-Aware Motion Planning of Multi-Legged Robots for Locomotion in Microgravity