Thruster-Assisted Incline Walking
<|reference_start|>Thruster-Assisted Incline Walking: 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.<|reference_end|>
@article{krishnamurthy2024thruster-assisted,
    title={Thruster-Assisted Incline Walking},
    author={Kaushik Venkatesh Krishnamurthy, Chenghao Wang, Shreyansh Pitroda,
  Adarsh Salagame, Eric Sihite, Reza Nemovi, Alireza Ramezani, Morteza Gharib},
    journal={arXiv preprint arXiv:2406.13118},
    year={2024},
    archivePrefix={arXiv},
    eprint={2406.13118},
    primaryClass={cs.RO cs.SY eess.SY}
}