Thruster-assisted Center Manifold Shaping in Bipedal Legged Locomotion

Oliveira, Arthur Castello B. de; Ramezani, Alireza

doi:10.1109/aim43001.2020.9158967

Cited by 13 publications

(8 citation statements)

References 22 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%

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%

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

Adarsh¹,

Manjikian²,

Wang³

et al. 2022

Preprint

Self Cite

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“…Raibert's hopping robots [1], and Boston Dynamic's Big-Dog [2] are amongst the most successful examples of legged robots, as they can hop or trot robustly even in the presence of significant unplanned disturbances. Other than these successful examples, many bipedal and anthropomorphic robots have also been introduced [3]- [10]. Boston Dynamics' dynamic humanoid, ATLAS, has pushed the limits of dynamic legged locomotion with its 28 hydraulically actuated joints.…”

Section: Introductionmentioning

confidence: 99%

Efficient Path Planning and Tracking for Multi-Modal Legged-Aerial Locomotion Using Integrated Probabilistic Road Maps (PRM) and Reference Governors (RG)

Sihite¹,

Mottis²,

Ghanem³

et al. 2022

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There have been several successful implementations of bio-inspired legged robots that can trot, walk, and hop robustly even in the presence of significant unplanned disturbances. Despite all of these accomplishments, practical control and high-level decision-making algorithms in multimodal legged systems are overlooked. In nature, animals such as birds impressively showcase multiple modes of mobility including legged and aerial locomotion. They are capable of performing robust locomotion over large walls, tight spaces, and can recover from unpredictable situations such as sudden gusts or slippery surfaces. Inspired by these animals' versatility and ability to combine legged and aerial mobility to negotiate their environment, our main goal is to design and control legged robots that integrate two completely different forms of locomotion, ground and aerial mobility, in a single platform. Our robot, the Husky Carbon, is being developed to integrate aerial and legged locomotion and to transform between legged and aerial mobility. This work utilizes a Reference Governor (RG) based on low-level control of Husky's dynamical model to maintain the efficiency of legged locomotion, uses Probabilistic Road Maps (PRM) and 3D A algorithms to generate an optimal path based on the energetic cost of transport for legged and aerial mobility.

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“…While energetic efficiency of legged locomotion has been extensively studied based on shaping joint trajectory [2]- [6], actuator design [7], [8] and compliance [9], [10], 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) [11], [12].…”

Section: Introductionmentioning

confidence: 99%

Generative Design of NU's Husky Carbon, A Morpho-Functional, Legged Robot

Ramezani¹,

Dangol²,

Sihite³

et al. 2021

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We report the design of a morpho-functional robot called Husky Carbon. Our goal is to integrate two forms of mobility, aerial and quadrupedal legged locomotion, within a single platform. There are prohibitive design restrictions such as tight power budget and payload, which can particularly become important in aerial flights. To address these challenges, we pose a problem called the Mobility Value of Added Mass (MVAM) problem. In the MVAM problem, we attempt to allocate mass in our designs such that the energetic performance is affected the least. To solve the MVAM problem, we adopted a generative design approach using Grasshopper's evolutionary solver to synthesize a parametric design space for Husky. Then, this space was searched for the morphologies that could yield a minimized Total Cost Of Transport (TCOT) and payload. This approach revealed that a front heavy quadrupedal robot can achieve a lower TCOT while retaining larger margins on allowable added mass to its design. Based on this framework Husky was built and tested as a front heavy robot.

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Thruster-assisted Center Manifold Shaping in Bipedal Legged Locomotion

Cited by 13 publications

References 22 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

Efficient Path Planning and Tracking for Multi-Modal Legged-Aerial Locomotion Using Integrated Probabilistic Road Maps (PRM) and Reference Governors (RG)

Generative Design of NU's Husky Carbon, A Morpho-Functional, Legged Robot

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