Kavli Affiliate: Morteza Gharib
| First 5 Authors: Kaushik Venkatesh Krishnamurthy, Chenghao Wang, Shreyansh Pitroda, Eric Sihite, Alireza Ramezani
| Summary:
Legged-aerial multimodal robots can make the most of both legged and aerial
systems. In this paper, we propose a control framework that bypasses heavy
onboard computers by using an optimization-free Explicit Reference Governor
that incorporates external thruster forces from an attitude controller. Ground
reaction forces are maintained within friction cone constraints using costly
optimization solvers, but the ERG framework filters applied velocity references
that ensure no slippage at the foot end. We also propose a Conjugate momentum
observer, that is widely used in Disturbance Observation to estimate ground
reaction forces and compare its efficacy against a constrained model in
estimating ground reaction forces in a reduced-order simulation of Husky.
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