Design and Control of a Small Humanoid Equipped With Flight Unit and Wheels for Multimodal Locomotion

Article Robotics

Design, Modeling, and Control of a Quadruped Robot SPIDAR: Spherically Vectorable and Distributed Rotors Assisted Air-Ground Quadruped Robot

Moju Zhao et al.

Summary: This paper introduces a novel air-ground quadruped robot called SPIDAR, which utilizes spherically vectorable rotors distributed in each link to achieve both walking motion and transformable flight. Firstly, a unique mechanical design for the quadruped robot enabling terrestrial and aerial locomotion is presented. Then, a modeling method for this hybrid robot platform is revealed, and an integrated control strategy for both walking and flying with joint motion is developed. Finally, the feasibility of the proposed hybrid quadruped robot is demonstrated by performing a seamless motion involving static walking and subsequent flight. To the best of our knowledge, this is the first work to achieve a quadruped robot with multimodal locomotion capability.

IEEE ROBOTICS AND AUTOMATION LETTERS (2023)

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Proceedings Paper Automation & Control Systems

Learning Agile Hybrid Whole-body Motor Skills for Thruster-Aided Humanoid Robots

Fan Shi et al.

Summary: This study proposes a novel hybrid locomotion behavior for humanoid robots with the aid of a thruster suit, enabling agile whole-body locomotion skills. It combines a neural controller based on reinforcement learning and an optimization-based controller to handle the complexity and constraint conditions of the system.

2022 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) (2022)

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Article Robotics

A bipedal walking robot that can fly, slackline, and skateboard

Kyunam Kim et al.

Summary: LEONARDO is a multimodal locomotion robotic platform that combines flying and walking through synchronized control, achieving complex maneuvers and unique locomotion capabilities to tackle various challenging tasks.

SCIENCE ROBOTICS (2021)

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Proceedings Paper Automation & Control Systems

Design and Development of a Flying Humanoid Robot Platform with Bi-copter Flight Unit

Tomoki Anzai et al.

Summary: This paper proposes a novel flying humanoid robot platform with a bi-copter flight unit to enhance the mobility of humanoid robots. By combining flying and walking capabilities, the robot demonstrates improved mobility in various tasks through a series of experiments.

PROCEEDINGS OF THE 2020 IEEE-RAS 20TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS 2020) (2021)

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Article Robotics