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Thruster-Assisted Incline Walking
- Publication Year :
- 2024
-
Abstract
- In this study, our aim is to evaluate the effectiveness of thruster-assisted steep slope walking for the Husky Carbon, a quadrupedal robot equipped with custom-designed actuators and plural electric ducted fans, through simulation prior to conducting experimental trials. Thruster-assisted steep slope walking draws inspiration from wing-assisted incline running (WAIR) observed in birds, and intriguingly incorporates posture manipulation and thrust vectoring, a locomotion technique not previously explored in the animal kingdom. Our approach involves developing a reduced-order model of the Husky robot, followed by the application of an optimization-based controller utilizing collocation methods and dynamics interpolation to determine control actions. Through simulation testing, we demonstrate the feasibility of hardware implementation of our controller.<br />Comment: 7 pages, 7 figures, submitted to CDC 2024 conference. arXiv admin note: text overlap with arXiv:2405.06070
Details
- Database :
- arXiv
- Publication Type :
- Report
- Accession number :
- edsarx.2406.13118
- Document Type :
- Working Paper