Dynamics and Control of a Novel Hybrid Legged Robot with Temporary Flight Capabilities.

In this study, a novel flying legged robot configuration with enhanced obstacle-crossing capability is introduced. Legged robots, especially RHex robots, already possess high obstacle-crossing capability; however, the obstacle size that can be overcome is directly dependent on the leg length. Although stair climbing-descending, obstacle course and inclined surface algorithms have been studied for the RHex robot, flight capability has not been explored. In this study, this improvement is achieved with minimal impact on the RHex's design by adding just a thruster as an additional propulsion system to propel the robot into flight. The attitude control is realized using the mass actuation of the robot legs, similar to how animals like lizards and cats utilize their limbs or tails as inertial appendages to stabilize their body pitch during mid-air maneuvers. Instead of direct and complete flight control, the aim was a temporary flight similar to obstacle-clearing flights of chickens. Hence, a nonlinear 2D model is developed to investigate the kinematics and dynamics of the RHex robot. Equations of motion are derived, linearized and used in a state feedback regulator design; the regulator is also expanded for reference tracking.