Kou-Iii: A Bipedal Robot with Quadrotor-Assisted Locomotion
27 Pages Posted: 14 Dec 2024
Abstract
We designed a bipedal robot with quadrotor-assisted locomotion. The objective is to enhance the robot's motion performance through quadrotor assistance rather than achieving multimodal locomotion. In the prototype design, we improved the rigidity and compactness of the knee joint actuator by modifying the cantilever structure of the planetary carrier in the reducer to a bridge-like design. A simple motion control strategy was then developed to enable the robot to perform standing, walking, and jumping motions. Experimental results demonstrate that quadrotor assistance significantly improves both the stability and motion performance of the bipedal robot.
Keywords: Bipedal robot, Quadrotor-assisted, Motion performance
Suggested Citation: Suggested Citation