Rough-Terrain Locomotion and Unilateral Contact Force Regulations With a Multi-Modal Legged Robot

Liang, Kaier; Sihite, Eric; Dangol, Pravin; Lessieur, Andrew; Ramezani, Alireza

doi:10.23919/acc50511.2021.9483189

Cited by 7 publications

(4 citation statements)

References 29 publications

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“…While energetic efficiency of legged locomotion has been extensively studied based on shaping joint trajectory [19], [21]- [24], actuator design [25], [26] and compliance [27], [28], there has been little to no attempt to connect it to robot morphology. For instance, efficiency was a key factor in the MIT Cheetah robot's trotting gaits with jerky and interrupted joint movements under large Ground Reaction Forces (GRFs) [29], [30].…”

Section: Objectives Of Husky Carbon Projectmentioning

confidence: 99%

“…reference into the kinematic states [19], [23], [46]. This method is very useful as it avoids using optimization frameworks to enforce locomotion feasibility constraints which as a result facilitates faster high-level decision making.…”

Section: Progress On Path Planningmentioning

confidence: 99%

“…particularly, multi-modal systems that aim to integrate legged and aerial locomotion due to challenging design are overlooked. 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 (grounded and aerial locomotion) [12]- [19].…”

Section: Introductionmentioning

confidence: 99%

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A Letter on Progress Made on Husky Carbon: A Legged-Aerial, Multi-modal Platform

Adarsh¹,

Manjikian²,

Wang³

et al. 2022

Preprint

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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 multimodal 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 multimodal 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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Section: Objectives Of Husky Carbon Projectmentioning

confidence: 99%

Section: Progress On Path Planningmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Letter on Progress Made on Husky Carbon: A Legged-Aerial, Multi-modal Platform

Adarsh¹,

Manjikian²,

Wang³

et al. 2022

Preprint

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“…Thrusters can result in unparalleled capabilities. For instance, gait trajectory planning (or re-planning), control and unilateral contact force regulation can be treated significantly differently as we have shown previously [7]- [11]. That said, real-time gait trajectory design in legged robots has been widely studied and the application of optimization-based methods is very common [12].…”

Section: Introductionmentioning

confidence: 99%

Unilateral Ground Contact Force Regulations in Thruster-Assisted Legged Locomotion

Sihite¹,

Dangol²,

Ramezani³

2021

Preprint

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In this paper, we study the regulation of the Ground Contact Forces (GRF) in thruster-assisted legged locomotion. We will employ Reference Governors (RGs) for enforcing GRF constraints in Harpy model which is a bipedal robot that is being developed at Northeastern University. Optimization-based methods and whole body control are widely used for enforcing the no-slip constraints in legged locomotion which can be very computationally expensive. In contrast, RGs can enforce these constraints by manipulating joint reference trajectories using Lyapunov stability arguments which can be computed much faster. The addition of the thrusters in our model allows to manipulate the gait parameters and the GRF without sacrificing the locomotion stability.

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Optimization-free Ground Contact Force Constraint Satisfaction in Quadrupedal Locomotion

Sihite¹,

Dangol²,

Ramezani

2021

2021 60th IEEE Conference on Decision and Control (CDC)

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Rough-Terrain Locomotion and Unilateral Contact Force Regulations With a Multi-Modal Legged Robot

Cited by 7 publications

References 29 publications

A Letter on Progress Made on Husky Carbon: A Legged-Aerial, Multi-modal Platform

A Letter on Progress Made on Husky Carbon: A Legged-Aerial, Multi-modal Platform

Unilateral Ground Contact Force Regulations in Thruster-Assisted Legged Locomotion

Optimization-free Ground Contact Force Constraint Satisfaction in Quadrupedal Locomotion

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