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Thruster-Assisted Incline Walking

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arxiv 2406.13118 v1 pith:WOITHY4V submitted 2024-06-19 cs.RO cs.SYeess.SY

Kaushik Venkatesh Krishnamurthy , Chenghao Wang , Shreyansh Pitroda , Adarsh Salagame , Eric Sihite , Reza Nemovi , Alireza Ramezani , Morteza Gharib This is my paper · ORCID
classification cs.ROcs.SYeess.SY
keywords thruster-assistedwalkingcontrollerhuskyinclinerobotsimulationslope
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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.

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Cited by 5 Pith papers

Reviewed papers in the Pith corpus that reference this work. Sorted by Pith novelty score. Full citation record

  1. NMPC-based Unified Posture Manipulation and Thrust Vectoring for Agile and Fault-Tolerant Flight of a Morphing Aerial Robot

    cs.RO 2025-04 conditional novelty 6.0 of 10

    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.

  2. Analysis of Harpy's Constrained Trotting and Jumping Maneuver

    cs.RO 2025-08 unverdicted novelty 4.0 of 10

    The provided manuscript text does not contain the claimed analysis of the Harpy robot, making the abstract's conclusions unverifiable from this document.

  3. Optimal Trajectory Planning in a Vertically Undulating Snake Locomotion using Contact-implicit Optimization

    cs.RO 2025-08 conditional novelty 4.0 of 10

    A contact-implicit reduced-order model using Moreau time-stepping roughly reproduces vertical undulation of a snake robot in simulation and hardware, but validation is qualitative and no optimal trajectory planning is...

  4. Enabling steep slope walking on Husky using reduced order modeling and quadratic programming

    cs.RO 2024-11 conditional novelty 4.0 of 10

    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.

  5. System Identification of Thrust and Torque Characteristics for a Bipedal Robot with Integrated Propulsion

    cs.RO 2025-04 conditional novelty 3.0 of 10

    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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