Vectorable Thrust Control for Multimodal Locomotion of Quadruped Robot SPIDAR
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arXiv
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866916652792152064 |
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| author | Zhao, Moju |
| author_facet | Zhao, Moju |
| contents | In this paper, I present vectorable thrust control for different locomotion modes by a novel quadruped robot, SPIDAR, equipped with vectoring rotor in each link. First, the robot's unique mechanical design, the dynamics model, and the basic control framework for terrestrial/aerial locomotion are briefly introduced. Second, a vectorable thrust control method derived from the basic control framework for aerial locomotion is presented. A key feature of this extended flight control is its ability to avoid interrotor aerodynamics interference under specific joint configuration. Third, another extended thrust control method and a fundamental gait strategy is proposed for special terrestrial locomotion called crawling that requires all legs to be lifted at the same time. Finally, the experimental results of the flight with a complex joint motion and the repeatable crawling motion are explained, which demonstrate the feasibility of the proposed thrust control methods for different locomotion modes. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2503_11551 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Vectorable Thrust Control for Multimodal Locomotion of Quadruped Robot SPIDAR Zhao, Moju Robotics Systems and Control In this paper, I present vectorable thrust control for different locomotion modes by a novel quadruped robot, SPIDAR, equipped with vectoring rotor in each link. First, the robot's unique mechanical design, the dynamics model, and the basic control framework for terrestrial/aerial locomotion are briefly introduced. Second, a vectorable thrust control method derived from the basic control framework for aerial locomotion is presented. A key feature of this extended flight control is its ability to avoid interrotor aerodynamics interference under specific joint configuration. Third, another extended thrust control method and a fundamental gait strategy is proposed for special terrestrial locomotion called crawling that requires all legs to be lifted at the same time. Finally, the experimental results of the flight with a complex joint motion and the repeatable crawling motion are explained, which demonstrate the feasibility of the proposed thrust control methods for different locomotion modes. |
| title | Vectorable Thrust Control for Multimodal Locomotion of Quadruped Robot SPIDAR |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2503.11551 |