2024/06/19 by Kaushik Venkatesh Krishnamurthy, Chenghao Wang, Krishnamurthy, Kaushik Venkatesh +13 · 1 citation
Engineering · #Advanced Sensor and Energy Harvesting Materials #Dielectric materials and actuators #FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2406.13118
openalex publication_date 2024/06/19 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.