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A Letter on Progress Made on Husky Carbon: A Legged-Aerial, Multi-modal Platform
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Animals, such as birds, widely use multi-modal locomotion by combining legged and aerial mobility with dominant inertial effects. The robotic biomimicry of this multi-modal locomotion feat can yield ultra-flexible systems in terms of their ability to negotiate their task spaces. The main objective of this paper is to discuss the challenges in achieving multi-modal locomotion, and to report our progress in developing our quadrupedal robot capable of multi-modal locomotion (legged and aerial locomotion), the Husky Carbon. We report the mechanical and electrical components utilized in our robot, in addition to the simulation and experimentation done to achieve our goal in developing a versatile multi-modal robotic platform.
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Cited by 3 Pith papers
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NMPC-based Unified Posture Manipulation and Thrust Vectoring for Agile and Fault-Tolerant Flight of a Morphing Aerial Robot
A nonlinear model predictive controller, tested in high-fidelity simulation, lets the M4 morphing robot recover from a fully failed rotor by reconfiguring its legs and remaining thrusters.
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Enabling steep slope walking on Husky using reduced order modeling and quadratic programming
A simulation demonstrates that a variable-length inverted pendulum model with thruster forces and a quadratic-programming controller can track a 40-degree slope reference motion, but hardware transfer is unproven.
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System Identification of Thrust and Torque Characteristics for a Bipedal Robot with Integrated Propulsion
The paper fits a thrust equation with two empirical constants and measures the KV380 motor torque constant as 0.0311 Nm/A, but the thrust validation depends on fitted parameters and a coarse 200-node CFD.
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