English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

We present a novel controller design on a robotic locomotor that combines anaerial vehicle with a spring-loaded leg. The main motivation is to enable theterrestrial locomotion capability on aerial vehicles so that they can carryheavy loads: heavy enough that flying is no longer possible, e.g., when thethrust-to-weight ratio (TWR) is small. The robot is designed with a pogo-stickleg and a quadrotor, and thus it is named as PogoX. We show that with a simpleand lightweight spring-loaded leg, the robot is capable of hopping with TWR$<1$. The control of hopping is realized via two components: a vertical heightcontrol via control Lyapunov function-based energy shaping, and a step-to-step(S2S) dynamics based horizontal velocity control that is inspired by thehopping of the Spring-Loaded Inverted Pendulum (SLIP). The controller issuccessfully realized on the physical robot, showing dynamic terrestriallocomotion of PogoX which can hop at variable heights and different horizontalvelocities with robustness to ground height variations and external pushes.

Terrestrial Locomotion of PogoX: From Hardware Design to Energy Shaping and Step-to-step Dynamics Based Control