Conjugate momentum based thruster force estimate in dynamic multimodal robot
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arXiv
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| Main Authors: | , , , , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866929600285638656 |
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| author | Pitroda, Shreyansh Sihite, Eric Liu, Taoran Krishnamurthy, Kaushik Venkatesh Wang, Chenghao Salagame, Adarsh Nemovi, Reza Ramezani, Alireza Gharib, Morteza |
| author_facet | Pitroda, Shreyansh Sihite, Eric Liu, Taoran Krishnamurthy, Kaushik Venkatesh Wang, Chenghao Salagame, Adarsh Nemovi, Reza Ramezani, Alireza Gharib, Morteza |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_14596 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Conjugate momentum based thruster force estimate in dynamic multimodal robot Pitroda, Shreyansh Sihite, Eric Liu, Taoran Krishnamurthy, Kaushik Venkatesh Wang, Chenghao Salagame, Adarsh Nemovi, Reza Ramezani, Alireza Gharib, Morteza Robotics 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. |
| title | Conjugate momentum based thruster force estimate in dynamic multimodal robot |
| topic | Robotics |
| url | https://arxiv.org/abs/2411.14596 |