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 14 publications

(7 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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“…Using the principles from the plethora of legged robotic systems, the Harpy robotic system was created with the ability to navigate rough and challenging terrain in mind [22]. However, the mechanical design of the leg does not implement passive elements and mechanical linkages to accomplish tasks in such a terrain to the best of its ability.…”

Section: Project Goalsmentioning

confidence: 99%

Binary passive element leg: a design framework for a legged system

Carlson

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has supported and believed in me from the very first day of my graduate studies. He has been instrumental in guiding and challenging me throughout my research career, in addition to giving me the opportunity to work on extremely interesting and exciting projects. I would also like to thank all of my lab mates, including Shreyansh, Kaushik, Kruthica, Aditya, and Adarsh for their help with brainstorming, design, simulation, and consistent encouragement. I would also like to thank Prof. Rifat Sipahi serving as my mechanical engineering department co-adviser and thesis reader. Finally, none of this would be possible without the support of my parents and my brother. Throughout my life, they have always pushed me to be better and been behind me every step of the way for all the things I've wanted to achieve. viii

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

Cited by 14 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

Binary passive element leg: a design framework for a legged system

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