Control of Thruster-Assisted, Bipedal Legged Locomotion of the Harpy Robot

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...

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Bibliographic Details
Main Authors: Pravin Dangol, Eric Sihite, Alireza Ramezani
Format: Article
Language:English
Published: Frontiers Media S.A. 2021-12-01
Series:Frontiers in Robotics and AI
Subjects:
legged robots
dynamics
modeling
control
mechatronics
automation
Online Access:https://www.frontiersin.org/articles/10.3389/frobt.2021.770514/full

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