Conjugate momentum based thruster force estimate in dynamic multimodal robot
Abstract
In a multi-modal system which combines thruster and legged locomotion such our state-of-the-art Harpy platform to perform dynamic locomotion. Therefore, it is very important to have a proper estimate of Thruster force. Harpy is a bipedal robot capable of legged-aerial locomotion using its legs and thrusters attached to its main frame. we can characterize thruster force using a thrust stand but it generally does not account for working conditions such as battery voltage. In this study, we present a momentum-based thruster force estimator. One of the key information required to estimate is terrain information. we show estimation results with and without terrain knowledge. In this work, we derive a conjugate momentum thruster force estimator and implement it on a numerical simulator that uses thruster force to perform thruster-assisted walking.
Keywords
Cite
@article{arxiv.2411.14596,
title = {Conjugate momentum based thruster force estimate in dynamic multimodal robot},
author = {Shreyansh Pitroda and Eric Sihite and Taoran Liu and Kaushik Venkatesh Krishnamurthy and Chenghao Wang and Adarsh Salagame and Reza Nemovi and Alireza Ramezani and Morteza Gharib},
journal= {arXiv preprint arXiv:2411.14596},
year = {2024}
}
Comments
Submitted to ACC 2025. arXiv admin note: text overlap with arXiv:2411.12968