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In this paper, we will report our efforts in designing closed-loop feedbackfor the thruster-assisted walking of bipedal robots. We will assume forwell-tuned supervisory controllers and will focus on fine-tuning the jointsdesired trajectories to satisfy the performance being sought. In doing this, wewill devise an intermediary filter based on reference governors that guaranteesthe satisfaction of performance-related constraints. Since these modificationsand impact events lead to deviations from the desired periodic orbits, we willguarantee hybrid invariance in a robust way by applying predictive schemeswithing a very short time envelope during the gait cycle. To achieve the hybridinvariance, we will leverage the unique features in our model, that is, thethrusters. The merit of our approach is that unlike existing optimization-basednonlinear control methods, satisfying performance-related constraints duringthe single support phase does not rely on expensive numeric approaches. Inaddition, the overall structure of the proposed thruster-assisted gait controlallows for exploiting performance and robustness enhancing capabilities duringspecific parts of the gait cycle, which is unusual and not reported before.

Towards thruster-assisted bipedal locomotion for enhanced efficiency and robustness