Design and Control of a Multimodal Legged-Aerial Robot Through Separate Control Contraction Metrics
In this paper, we present the design and operation of a multimodal quadrupedal aerial-legged robot.
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Key points
- The integration of dynamic legged locomotion and aerial mobility offers versatility that is deterred by challenges in payload distribution, actuation, and the contrasting requirements of both domains.
- The presence of legged aerial systems also allows for thruster-assisted legged locomotion, which we make possible with a unified control framework using Control Contraction Metrics (CCM).
- We search for separate domain-specific contraction metrics for walking and flight independently offline and unify them using an online energy-based Control Lyapunov Function Quadratic Program (CLF QP).
- This enables optimal, cross-domain control allocation, which we show using simulations.
Sources (1)
- [1]Design and Control of a Multimodal Legged-Aerial Robot Through Separate Control Contraction MetricsarXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 19, 09:37 PM
In this paper, we present the design and operation of a multimodal quadrupedal aerial-legged robot.
The integration of dynamic legged locomotion and aerial mobility offers versatility that is deterred by challenges in payload distribution, actuation, and the contrasting requirements of both domains.
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