構造再活用による動的な四脚歩行と空中移動
Dynamic Quadrupedal Legged and Aerial Locomotion via Structure Repurposing
脚構造を歩行と飛行に再利用する四脚ロボットHusky v.2のハードウェア設計を提案し、動的な歩行とホバリングの基礎結果を示した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Chenghao Wang, Kaushik Venkatesh Krishnamurthy, Shreyansh Pitroda, Adarsh Salagame, Ioannis Mandralis, Eric Sihite, Alireza Ramezani, Morteza Gharib
分類: cs.RO
原文アブストラクト
Multi-modal ground-aerial robots have been extensively studied, with a significant challenge lying in the integration of conflicting requirements across different modes of operation. The Husky robot family, developed at Northeastern University, and specifically the Husky v.2 discussed in this study, addresses this challenge by incorporating posture manipulation and thrust vectoring into multi-modal locomotion through structure repurposing. This quadrupedal robot features leg structures that can be repurposed for dynamic legged locomotion and flight. In this paper, we present the hardware design of the robot and report primary results on dynamic quadrupedal legged locomotion and hovering.
