Kavli Affiliate: Morteza Gharib
| First 5 Authors: Kaushik Venkatesh Krishnamurthy, Eric Sihite, Chenghao Wang, Shreyansh Pitroda, Adarsh Salagame
| Summary:
Wing-assisted inclined running (WAIR) observed in some young birds, is an
attractive maneuver that can be extended to legged aerial systems. This study
proposes a control method using a modified Variable Length Inverted Pendulum
(VLIP) by assuming a fixed zero moment point and thruster forces collocated at
the center of mass of the pendulum. A QP MPC is used to find the optimal ground
reaction forces and thruster forces to track a reference position and velocity
trajectory. Simulation results of this VLIP model on a slope of 40 degrees is
maintained and shows thruster forces that can be obtained through posture
manipulation. The simulation also provides insight to how the combined efforts
of the thrusters and the tractive forces from the legs make WAIR possible in
thruster-assisted legged systems.
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