Thruster-Assisted Incline Walking
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arXiv
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| Main Authors: | , , , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866911925149892608 |
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| author | Krishnamurthy, Kaushik Venkatesh Wang, Chenghao Pitroda, Shreyansh Salagame, Adarsh Sihite, Eric Nemovi, Reza Ramezani, Alireza Gharib, Morteza |
| author_facet | Krishnamurthy, Kaushik Venkatesh Wang, Chenghao Pitroda, Shreyansh Salagame, Adarsh Sihite, Eric Nemovi, Reza Ramezani, Alireza Gharib, Morteza |
| contents | In this study, our aim is to evaluate the effectiveness of thruster-assisted steep slope walking for the Husky Carbon, a quadrupedal robot equipped with custom-designed actuators and plural electric ducted fans, through simulation prior to conducting experimental trials. Thruster-assisted steep slope walking draws inspiration from wing-assisted incline running (WAIR) observed in birds, and intriguingly incorporates posture manipulation and thrust vectoring, a locomotion technique not previously explored in the animal kingdom. Our approach involves developing a reduced-order model of the Husky robot, followed by the application of an optimization-based controller utilizing collocation methods and dynamics interpolation to determine control actions. Through simulation testing, we demonstrate the feasibility of hardware implementation of our controller. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2406_13118 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Thruster-Assisted Incline Walking Krishnamurthy, Kaushik Venkatesh Wang, Chenghao Pitroda, Shreyansh Salagame, Adarsh Sihite, Eric Nemovi, Reza Ramezani, Alireza Gharib, Morteza Robotics Systems and Control In this study, our aim is to evaluate the effectiveness of thruster-assisted steep slope walking for the Husky Carbon, a quadrupedal robot equipped with custom-designed actuators and plural electric ducted fans, through simulation prior to conducting experimental trials. Thruster-assisted steep slope walking draws inspiration from wing-assisted incline running (WAIR) observed in birds, and intriguingly incorporates posture manipulation and thrust vectoring, a locomotion technique not previously explored in the animal kingdom. Our approach involves developing a reduced-order model of the Husky robot, followed by the application of an optimization-based controller utilizing collocation methods and dynamics interpolation to determine control actions. Through simulation testing, we demonstrate the feasibility of hardware implementation of our controller. |
| title | Thruster-Assisted Incline Walking |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2406.13118 |