Kavli Affiliate: Morteza Gharib
| First 5 Authors: Shreyansh Pitroda, Eric Sihite, Taoran Liu, Kaushik Venkatesh Krishnamurthy, Chenghao Wang
| Summary:
In a multi-modal system which combines thruster and legged locomotion such
our state-of-the-art Harpy platform to perform dynamic locomotion. Therefore,
it is very important to have a proper estimate of Thruster force. Harpy is a
bipedal robot capable of legged-aerial locomotion using its legs and thrusters
attached to its main frame. we can characterize thruster force using a thrust
stand but it generally does not account for working conditions such as battery
voltage. In this study, we present a momentum-based thruster force estimator.
One of the key information required to estimate is terrain information. we show
estimation results with and without terrain knowledge. In this work, we derive
a conjugate momentum thruster force estimator and implement it on a numerical
simulator that uses thruster force to perform thruster-assisted walking.
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