7 papers
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…
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…