Control of Thruster-Assisted, Bipedal Legged Locomotion of the Harpy Robot
Fast constraint satisfaction, frontal dynamics stabilization, and avoiding fallovers in dynamic, bipedal walkers can be pretty challenging. The challenges include underactuation, vulnerability to external perturbations, and high computational complexity that arise when accounting for the system full...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2021-12-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2021.770514/full |
| _version_ | 1818871739816345600 |
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| author | Pravin Dangol Eric Sihite Alireza Ramezani |
| author_facet | Pravin Dangol Eric Sihite Alireza Ramezani |
| author_sort | Pravin Dangol |
| collection | DOAJ |
| description | Fast constraint satisfaction, frontal dynamics stabilization, and avoiding fallovers in dynamic, bipedal walkers can be pretty challenging. The challenges include underactuation, vulnerability to external perturbations, and high computational complexity that arise when accounting for the system full-dynamics and environmental interactions. In this work, we study the potential roles of thrusters in addressing some of these locomotion challenges in bipedal robotics. We will introduce a thruster-assisted bipedal robot called Harpy. We will capitalize on Harpy’s unique design to propose an optimization-free approach to satisfy gait feasibility conditions. In this thruster-assisted legged locomotion, the reference trajectories can be manipulated to fulfill constraints brought on by ground contact and those prescribed for states and inputs. Unintended changes to the trajectories, especially those optimized to produce periodic orbits, can adversely affect gait stability and hybrid invariance. We will show our approach can still guarantee stability and hybrid invariance of the gaits by employing the thrusters in Harpy. We will also show that the thrusters can be leveraged to robustify the gaits by dodging fallovers or jumping over large obstacles. |
| first_indexed | 2024-12-19T12:27:43Z |
| format | Article |
| id | doaj.art-939e23f5e5fe423fa8a2decbe6049cc0 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-12-19T12:27:43Z |
| publishDate | 2021-12-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-939e23f5e5fe423fa8a2decbe6049cc02022-12-21T20:21:31ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442021-12-01810.3389/frobt.2021.770514770514Control of Thruster-Assisted, Bipedal Legged Locomotion of the Harpy RobotPravin DangolEric SihiteAlireza RamezaniFast constraint satisfaction, frontal dynamics stabilization, and avoiding fallovers in dynamic, bipedal walkers can be pretty challenging. The challenges include underactuation, vulnerability to external perturbations, and high computational complexity that arise when accounting for the system full-dynamics and environmental interactions. In this work, we study the potential roles of thrusters in addressing some of these locomotion challenges in bipedal robotics. We will introduce a thruster-assisted bipedal robot called Harpy. We will capitalize on Harpy’s unique design to propose an optimization-free approach to satisfy gait feasibility conditions. In this thruster-assisted legged locomotion, the reference trajectories can be manipulated to fulfill constraints brought on by ground contact and those prescribed for states and inputs. Unintended changes to the trajectories, especially those optimized to produce periodic orbits, can adversely affect gait stability and hybrid invariance. We will show our approach can still guarantee stability and hybrid invariance of the gaits by employing the thrusters in Harpy. We will also show that the thrusters can be leveraged to robustify the gaits by dodging fallovers or jumping over large obstacles.https://www.frontiersin.org/articles/10.3389/frobt.2021.770514/fulllegged robotsdynamicsmodelingcontrolmechatronicsautomation |
| spellingShingle | Pravin Dangol Eric Sihite Alireza Ramezani Control of Thruster-Assisted, Bipedal Legged Locomotion of the Harpy Robot Frontiers in Robotics and AI legged robots dynamics modeling control mechatronics automation |
| title | Control of Thruster-Assisted, Bipedal Legged Locomotion of the Harpy Robot |
| title_full | Control of Thruster-Assisted, Bipedal Legged Locomotion of the Harpy Robot |
| title_fullStr | Control of Thruster-Assisted, Bipedal Legged Locomotion of the Harpy Robot |
| title_full_unstemmed | Control of Thruster-Assisted, Bipedal Legged Locomotion of the Harpy Robot |
| title_short | Control of Thruster-Assisted, Bipedal Legged Locomotion of the Harpy Robot |
| title_sort | control of thruster assisted bipedal legged locomotion of the harpy robot |
| topic | legged robots dynamics modeling control mechatronics automation |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2021.770514/full |
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