Kavli Affiliate: Morteza Gharib
| First 5 Authors: Shreyansh Pitroda, Eric Sihite, Taoran Liu, Kaushik Venkatesh Krishnamurthy, Chenghao Wang
| Summary:
Our work aims to make significant strides in understanding unexplored
locomotion control paradigms based on the integration of posture manipulation
and thrust vectoring. These techniques are commonly seen in nature, such as
Chukar birds using their wings to run on a nearly vertical wall. In this work,
we developed a capture-point-based controller integrated with a quadratic
programming (QP) solver which is used to create a thruster-assisted dynamic
bipedal walking controller for our state-of-the-art Harpy platform. Harpy is a
bipedal robot capable of legged-aerial locomotion using its legs and thrusters
attached to its main frame. While capture point control based on centroidal
models for bipedal systems has been extensively studied, the use of these
thrusters in determining the capture point for a bipedal robot has not been
extensively explored. The addition of these external thrust forces can lead to
interesting interpretations of locomotion, such as virtual buoyancy studied in
aquatic-legged locomotion. In this work, we derive a thruster-assisted bipedal
walking with the capture point controller and implement it in simulation to
study its performance.
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