Terrestrial Locomotion of PogoX: From Hardware Design to Energy Shaping and Step-to-step Dynamics Based Control
Yi Wang,Jiarong Kang,Zhiheng Chen,Xiaobin Xiong,Yi Wang,Jiarong Kang,Zhiheng Chen,Xiaobin Xiong
We present a novel controller design on a robotic locomotor that combines an aerial vehicle with a spring-loaded leg. The main motivation is to enable the terrestrial locomotion capability on aerial vehicles so that they can carry heavy loads: heavy enough that flying is no longer possible, e.g., when the thrust-to-weight ratio (TWR) is small. The robot is designed with a pogo-stick leg and a quad...
