1 citations · 2 across the 13 of their papers we have counts for
13 papers
Guiding Energy-Efficient Locomotion through Impact Mitigation Rewards
Chenghao Wang, Arjun Viswanathan, Eric Sihite +1
Animals achieve energy-efficient locomotion by their implicit passive dynamics, a marvel that has captivated roboticists for decades.Recently, methods incorporated Adversarial Moti…
Dynamic Quadrupedal Legged and Aerial Locomotion via Structure Repurposing
Chenghao Wang, Kaushik Venkatesh Krishnamurthy, Shreyansh Pitroda +5
Multi-modal ground-aerial robots have been extensively studied, with a significant challenge lying in the integration of conflicting requirements across different modes of operatio…
Thruster-Enhanced Locomotion: A Decoupled Model Predictive Control with Learned Contact Residuals
Chenghao Wang, Alireza Ramezani
Husky Carbon, a robot developed by Northeastern University, serves as a research platform to explore unification of posture manipulation and thrust vectoring. Unlike conventional q…
Quadratic Programming-Based Posture Manipulation and Thrust-vectoring for Agile Dynamic Walking on Narrow Pathways
Chenghao Wang, Eric Sihite, Kaushik Venkatesh Krishnamurthy +4
There has been significant advancement in legged robot's agility where they can show impressive acrobatic maneuvers, such as parkour. These maneuvers rely heavily on posture manipu…
Enhanced Capture Point Control Using Thruster Dynamics and QP-Based Optimization for Harpy
Shreyansh Pitroda, Eric Sihite, Taoran Liu +6
Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These tech…
Conjugate momentum based thruster force estimate in dynamic multimodal robot
Shreyansh Pitroda, Eric Sihite, Taoran Liu +6
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 hav…
Quadratic Programming Optimization for Bio-Inspired Thruster-Assisted Bipedal Locomotion on Inclined Slopes
Shreyansh Pitroda, Eric Sihite, Kaushik Venkatesh Krishnamurthy +5
Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These tech…
Enabling steep slope walking on Husky using reduced order modeling and quadratic programming
Kaushik Venkatesh Krishnamurthy, Eric Sihite, Chenghao Wang +4
Wing-assisted inclined running (WAIR) observed in some young birds, is an attractive maneuver that can be extended to legged aerial systems. This study proposes a control method us…
Optimization free control and ground force estimation with momentum observer for a multimodal legged aerial robot
Kaushik Venkatesh Krishnamurthy, Chenghao Wang, Shreyansh Pitroda +3
Legged-aerial multimodal robots can make the most of both legged and aerial systems. In this paper, we propose a control framework that bypasses heavy onboard computers by using an…
Capture Point Control in Thruster-Assisted Bipedal Locomotion
Shreyansh Pitroda, Aditya Bondada, Kaushik Venkatesh Krishnamurthy +8
Despite major advancements in control design that are robust to unplanned disturbances, bipedal robots are still susceptible to falling over and struggle to negotiate rough terrain…
Thruster-Assisted Incline Walking
Kaushik Venkatesh Krishnamurthy, Chenghao Wang, Shreyansh Pitroda +5
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 a…
Narrow-Path, Dynamic Walking Using Integrated Posture Manipulation and Thrust Vectoring
Kaushik Venkatesh Krishnamurthy, Chenghao Wang, Shreyansh Pitroda +5
This research concentrates on enhancing the navigational capabilities of Northeastern Universitys Husky, a multi-modal quadrupedal robot, that can integrate posture manipulation an…
Quadrupedal Locomotion Control On Inclined Surfaces Using Collocation Method
Adarsh Salagame, Maria Gianello, Chenghao Wang +6
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…