Conjugate momentum based thruster force estimate in dynamic multimodal robot
Conjugate momentum based thruster force estimate in dynamic multimodal robot
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Ithaca: Cornell University Library, arXiv.org
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English
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Ithaca: Cornell University Library, arXiv.org
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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 have a proper estimate of Thruster force. Harpy is a bipedal robot capable of legged-aerial locomotion using its legs and thrusters attached to its main frame. we can charac...
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Conjugate momentum based thruster force estimate in dynamic multimodal robot
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TN_cdi_proquest_journals_3132694287
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https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_proquest_journals_3132694287
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2331-8422
