Analysis of Harpy's Constrained Trotting and Jumping Maneuver
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arXiv
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866911121036804096 |
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| author | Kumar, Prathima Ananda |
| author_facet | Kumar, Prathima Ananda |
| contents | This study presents an analysis of experimental data from Harpy, a thruster-assisted bipedal robot developed at Northeastern University. The study examines data sets from trotting and jumping experiments to understand the fundamental principles governing hybrid leg-thruster locomotion. Through data analysis across multiple locomotion modes, this research reveals that Harpy achieves stable locomotion with bounded trajectories and consistent foot placement through strategic leg-thruster synergy. The results demonstrate controlled joint behavior with low torques and symmetric tracking, accurate foot placement within kinematic constraints despite phase-transition perturbations, and underactuated degree-of-freedom stability without divergence. Energy level analysis reveals that legs provide primary propulsion, while the thrusters enable additional aerial phase control. The analysis identifies critical body-leg coupling dynamics during aerial phases that require phase-specific control strategies. Consistent repeatability and symmetry across experiments validate the robustness of the hybrid actuation approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2508_18139 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Analysis of Harpy's Constrained Trotting and Jumping Maneuver Kumar, Prathima Ananda Robotics This study presents an analysis of experimental data from Harpy, a thruster-assisted bipedal robot developed at Northeastern University. The study examines data sets from trotting and jumping experiments to understand the fundamental principles governing hybrid leg-thruster locomotion. Through data analysis across multiple locomotion modes, this research reveals that Harpy achieves stable locomotion with bounded trajectories and consistent foot placement through strategic leg-thruster synergy. The results demonstrate controlled joint behavior with low torques and symmetric tracking, accurate foot placement within kinematic constraints despite phase-transition perturbations, and underactuated degree-of-freedom stability without divergence. Energy level analysis reveals that legs provide primary propulsion, while the thrusters enable additional aerial phase control. The analysis identifies critical body-leg coupling dynamics during aerial phases that require phase-specific control strategies. Consistent repeatability and symmetry across experiments validate the robustness of the hybrid actuation approach. |
| title | Analysis of Harpy's Constrained Trotting and Jumping Maneuver |
| topic | Robotics |
| url | https://arxiv.org/abs/2508.18139 |