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cs.RO2022★ 1 cited
Generalized Two Color Map Theorem -- Complete Theorem of Robust Gait Plan for a Tilt-rotor
Zhe Shen, Yudong Ma, Takeshi Tsuchiya
Gait plan is a procedure that is typically applied on the ground robots, e.g., quadrupedal robots; the tilt-rotor, a novel type of quadrotor with eight inputs, is not one of them.…
cs.RO2022
Four-dimensional Gait Surfaces for A Tilt-rotor -- Two Color Map Theorem
Zhe Shen, Yudong Ma, Takeshi Tsuchiya
This article presents the four-dimensional surfaces which instruct the gait plan for a tilt-rotor. The previous gaits analyzed in the tilt-rotor research are inspired by animals; n…
cs.RO2022
Feedback Linearization Based Tracking Control of A Tilt-rotor with Cat-trot Gait Plan
Zhe Shen, Yudong Ma, Takeshi Tsuchiya
With the introduction of the laterally bounded forces, the tilt-rotor gains more flexibility in the controller design. Typical feedback linearization methods utilize all the inputs…