Kavli Affiliate: Morteza Gharib
| First 5 Authors: Shreyansh Pitroda, Eric Sihite, Kaushik Venkatesh Krishnamurthy, Chenghao Wang, Adarsh Salagame
| 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 show quadratic programming with contact constraints which is then given to
the whole body controller to map on robot states to produce a thruster-assisted
slope 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. The optimization-based walking controller has been
used for dynamic locomotion such as slope walking, but the addition of
thrusters to perform inclined slope walking has not been extensively explored.
In this work, we derive a thruster-assisted bipedal walking with the quadratic
programming (QP) controller and implement it in simulation to study its
performance.
| Search Query: ArXiv Query: search_query=au:”Morteza Gharib”&id_list=&start=0&max_results=3