# Segmented Hybrid Impedance Control for Hyper-Redundant Space Manipulators
## 1 Introduction
Conventional methodologies consistently address the contact problem through specialized end-effector designs [16], for example, as male-female connector interfaces [17], nozzle-cone configurations and using cooperative manipulators [18], which in a way limit the scope of possible interactions. Our research introduces a new approach by investigating a fundamentally different question: how can we control and leverage the entire segmented HRSM link structure to effectively manipulate irregular, non-cooperative objects in space environments? Referring to the recent work of [PERSON]. [PERSON] et al. [19], which represents one of the most closely related approaches to this research, the authors investigated the management of multiple external forces applied to redundant manipulators. Their study specifically explored the use of variable impedance control parameters to handle multi-point contacts in redundant manipulators. However, their approach, while comprehensive, lacks a mechanism for applying the desired forces that could enhance the stability in some tasks and ensure a firm grasp on uncooperative obstacles. In contrast, the present work introduces a segmented impedance control architecture designed to effectively manage multiple desired contact forces. This approach not only improves the stability of the manipulator during interactions with complex, uncooperative environments but also enables a hyper redundant space manipulator (HRSM) to securely grasp and manipulate multiple objects through multi-point contacts for each. The critical challenge in space manipulation centers on managing the contact dynamics [3]. Contact between rigid materials generates extremely high forces, with the transition between initial and permanent contact often exhibiting unstable, bouncy behavior. This instability is particularly problematic in space operations, where the object mass and inertia generate additional forces requiring careful regulation. The combination of contact instability, free-floating object unpredictability, microgravity conditions, and manipulator control errors often leads to system divergence into uncontrollable states. In this context, impedance control methodologies [20; 21] show particular promise by replicating human-like muscle compliance and reducing the contact forces. Several researchers have made significant contributions to this field. [PERSON] et al. pioneered force feedback-based compliance control for manipulators [22], while [PERSON] et al. extended impedance control applications specifically for space manipulation scenarios [23]. Further advancements came from [PERSON] et al., who adapted impedance control for non-cooperative target grasping [24], and [PERSON] et al., who developed adaptive control strategies for target acquisition [25]. Notably, [PERSON] et al. investigated impedance control methods specifically for free-floating space manipulators engaging with non-cooperative targets [26]. However, traditional implementations of these methodologies still face challenges in effectively managing simultaneous multiple contact points, necessitating further development of more sophisticated control frameworks. To address these fundamental challenges, we propose a novel bio-inspired approach incorporating winding or wrapping around non-cooperative objects. This solution provides comprehensive object securing, enhancing the stability and control during interaction. Furthermore, we introduce a segmented control approach for HRSMs, dividing the manipulator into independently controlled segments to simplify the kinematic and dynamic complexities while improving the maneuverability and responsiveness. The key contributions of this work are as follows:  
* Development of a comprehensive segmented impedance control framework enabling coordinated multi-point contact, demonstrating superior compliance and stability compared to traditional hybrid position/force control methods.