1 citations · 2 across the 15 of their papers we have counts for
17 papers
Design and Control of a Multimodal Legged-Aerial Robot Through Separate Control Contraction Metrics
Kaushik Venkatesh Krishnamurthy, Eric Sihite, Alireza Ramezani +1
The integration of dynamic legged locomotion and aerial mobility offers versatility that is deterred by challenges in payload distribution, actuation, and the contrasting requireme…
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…
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…
NMPC-based Unified Posture Manipulation and Thrust Vectoring for Fault Recovery
Adarsh Salagame, Shashwat Pandya, Ioannis Mandralis +3
Multi-rotors face significant risks, as actuator failures at high altitudes can easily result in a crash and the robot's destruction. Therefore, rapid fault recovery in the event o…
ATMO: An Aerially Transforming Morphobot for Dynamic Ground-Aerial Transition
Ioannis Mandralis, Reza Nemovi, Alireza Ramezani +2
Designing ground-aerial robots is challenging due to the increased actuation requirements which can lead to added weight and reduced locomotion efficiency. Morphobots mitigate this…
Self-supervised cost of transport estimation for multimodal path planning
Vincent Gherold, Ioannis Mandralis, Eric Sihite +3
Autonomous robots operating in real environments are often faced with decisions on how best to navigate their surroundings. In this work, we address a particular instance of this p…
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…
Bio-Inspired Compensatory Strategies for Damage to Flapping Robotic Propulsors
Meredith L. Hooper, Isabel Scherl, Morteza Gharib
To maintain full autonomy, autonomous robotic systems must have the ability to self-repair. Self-repairing via compensatory mechanisms appears in nature: for example, some fish can…
Dynamic modeling of wing-assisted inclined running with a morphing multi-modal robot
Eric Sihite, Alireza Ramezani, Morteza Gharib
Robot designs can take many inspirations from nature, where there are many examples of highly resilient and fault-tolerant locomotion strategies to navigate complex terrains by usi…
Model Predictive Loitering and Trajectory Tracking of Suspended Payloads in Cable-Driven Balloons Using UGVs
Julius Wanner, Eric Sihite, Alireza Ramezani +1
The feasibility of performing airborne and ground manipulation, perception, and reconnaissance using wheeled rovers, unmanned aerial vehicles, CubeSats, SmallSats and more have bee…