Jet-HR1: Two-dimensional bipedal robot step over large obstacle based on a ducted-fan propulsion system

Huang, Zhifeng; Liu, Biao; Wei, Jiapeng; Lin, Qiang; Ota, Jun; Zhang, Yun

doi:10.1109/humanoids.2017.8246905

Cited by 14 publications

(3 citation statements)

References 12 publications

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“…Novel research directions, however, are trying to design UAVs with several degrees of freedom, which is a fundamental step for providing flying robots with manipulation or terrestrial locomotion capabilities. These flying multibody robots include aerial manipulators, hexapod-quadrotor designs, hybrid terrestrial and aerial quadrotors, and humanoid robots with thrusters to enhance bipedal locomotion [13], [14], [15], [16], [17]. Effective fault control design of such multibody systems is non-trivial, because of the inherent complexity of their internal dynamics, increased weight and/or relatively slow actuators dynamics.…”

Section: Introductionmentioning

confidence: 99%

Position and Attitude Control of an Underactuated Flying Humanoid Robot

Nava

Fiorio

Traversaro

et al. 2018

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)

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Failure detection and fault tolerant control are fundamental safety features of any aerial vehicle. With the emergence of complex, multi-body flying systems such as jetpowered humanoid robots, it becomes of crucial importance to design fault detection and control strategies for these systems, too. In this paper we propose a fault detection and control framework for the flying humanoid robot iRonCub in case of loss of one turbine. The framework is composed of a failure detector based on turbines rotational speed, a momentum-based flight control for fault response, and an offline reference generator that produces far-from-singularities configurations and accounts for self and jet exhausts collision avoidance. Simulation results with Gazebo and MATLAB prove the effectiveness of the proposed control strategy.

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Section: Introductionmentioning

confidence: 99%

Position and Attitude Control of an Underactuated Flying Humanoid Robot

Nava

Fiorio

Traversaro

et al. 2018

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)

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“…The problem of flying vehicle control is especially challenging for the so-called multimodal robots, which attempt at combining terrestrial and aerial locomotion in a single robotic platform. Hexapod-quadrotors, insect biobots, and humanoid robots with thrusters are examples of platforms that combine different degrees of locomotion, thus requiring advanced control and modeling methods [7], [8], [10]- [12]. In this category of platforms there is iRonCub, a prototype of flying humanoid robot currently developed at the Italian Institute of Technology [9], [14], [15], [17].…”

Section: Introductionmentioning

confidence: 99%

Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots

Tong¹,

Paolino²,

Nava³

et al. 2022

Preprint

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This paper presents a modeling and control framework for multibody flying robots subject to non-negligible aerodynamic forces acting on the centroidal dynamics. First, aerodynamic forces are calculated during robot flight in different operating conditions by means of Computational Fluid Dynamics (CFD) analysis. Then, analytical models of the aerodynamics coefficients are generated from the dataset collected with CFD analysis. The obtained simplified aerodynamic model is also used to improve the flying robot control design. We present two control strategies: compensating for the aerodynamic effects via feedback linearization and enforcing the controller robustness with gain-scheduling. Simulation results on the jet-powered humanoid robot iRonCub validate the proposed approach.

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“…Analogously, at Guangdong University of Technology's School of Automation, researchers are developing a legged robot with ducted fans installed at the feet. The goal is to allow the robot to take larger steps [10]. Yet, none of these robots is endowed with a degree of manipulation.…”

Section: Introductionmentioning

confidence: 99%

Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics

L'Erario

Fiorio

Nava

et al. 2020

IEEE Robot. Autom. Lett.

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The paper contributes towards the modeling, identification, and control of model jet engines. We propose a nonlinear, second order model in order to capture the model jet engines governing dynamics. The model structure is identified by applying sparse identification of nonlinear dynamics, and then the parameters of the model are found via gray-box identification procedures. Once the model has been identified, we approached the control of the model jet engine by designing two control laws. The first one is based on the classical Feedback Linearization technique while the second one on the Sliding Mode control. The overall methodology has been verified by modeling, identifying and controlling two model jet engines, i.e. P100-RX and P220-RXi developed by JetCat, which provide a maximum thrust of 100 N and 220 N, respectively.

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Jet-HR1: Two-dimensional bipedal robot step over large obstacle based on a ducted-fan propulsion system

Cited by 14 publications

References 12 publications

Position and Attitude Control of an Underactuated Flying Humanoid Robot

Position and Attitude Control of an Underactuated Flying Humanoid Robot

Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots

Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics

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