Inspired by Chukars wing-assisted incline running (WAIR), in this work, we employ a high-fidelity model of our Husky Carbon quadrupedal-legged robot to walk over steep slopes of up to 45 degrees. Chukars use the aerodynamic forces generated by their flapping wings to manipulate ground contact forces and traverse steep slopes and even overhangs. By exploiting the thrusters on Husky, we employed a collocation approach to rapidly resolving the joint and thruster actions. Our approach uses a polynomial approximation of the reduced-order dynamics of Husky, called HROM, to quickly and efficiently find optimal control actions that permit high-slope walking without violating friction cone conditions.
@article{arxiv.2312.08621,
title = {Quadrupedal Locomotion Control On Inclined Surfaces Using Collocation Method},
author = {Adarsh Salagame and Maria Gianello and Chenghao Wang and Kaushik Venkatesh and Shreyansh Pitroda and Rohit Rajput and Eric Sihite and Miriam Leeser and Alireza Ramezani},
journal= {arXiv preprint arXiv:2312.08621},
year = {2023}
}
Comments
arXiv admin note: substantial text overlap with arXiv:2306.00179