Reduced-Order Model-Based Gait Generation for Snake Robot Locomotion using NMPC

This paper presents an optimization-based motion planning methodology for snake robots operating in constrained environments. By using a reduced-order model, the proposed approach simplifies the planning process, enabling the optimizer to autonomously generate gaits while constraining the robot's footprint within tight spaces. The method is validated through high-fidelity simulations that accurately model contact dynamics and the robot's motion. Key locomotion strategies are identified and further demonstrated through hardware experiments, including successful navigation through narrow corridors.

Self-supervised cost of transport estimation for multimodal path planning

Autonomous robots operating in real environments are often faced with decisions on how best to navigate their surroundings. In this work, we address a particular instance of this problem: how can a robot autonomously decide on the energetically optimal path to follow given a high-level objective and information about the surroundings? To tackle this problem we developed a self-supervised learning method that allows the robot to estimate the cost of transport of its surroundings using only vision inputs. We apply our method to the multi-modal mobility morphobot (M4), a robot that can drive, fly, segway, and crawl through its environment. By deploying our system in the real world, we show that our method accurately assigns different cost of transports to various types of environments e.g. grass vs smooth road. We also highlight the low computational cost of our method, which is deployed on an Nvidia Jetson Orin Nano robotic compute unit. We believe that this work will allow multi-modal robotic platforms to unlock their full potential for navigation and exploration tasks.

Enhanced Capture Point Control Using Thruster Dynamics and QP-Based Optimization for Harpy

Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds using their wings to run on a nearly vertical wall. In this work, we developed a capture-point-based controller integrated with a quadratic programming (QP) solver which is used to create a thruster-assisted dynamic bipedal walking controller for our state-of-the-art Harpy platform. Harpy is a bipedal robot capable of legged-aerial locomotion using its legs and thrusters attached to its main frame. While capture point control based on centroidal models for bipedal systems has been extensively studied, the use of these thrusters in determining the capture point for a bipedal robot has not been extensively explored. The addition of these external thrust forces can lead to interesting interpretations of locomotion, such as virtual buoyancy studied in aquatic-legged locomotion. In this work, we derive a thruster-assisted bipedal walking with the capture point controller and implement it in simulation to study its performance.

Conjugate momentum based thruster force estimate in dynamic multimodal robot

In a multi-modal system which combines thruster and legged locomotion such our state-of-the-art Harpy platform to perform dynamic locomotion. Therefore, it is very important to have a proper estimate of Thruster force. Harpy is a bipedal robot capable of legged-aerial locomotion using its legs and thrusters attached to its main frame. we can characterize thruster force using a thrust stand but it generally does not account for working conditions such as battery voltage. In this study, we present a momentum-based thruster force estimator. One of the key information required to estimate is terrain information. we show estimation results with and without terrain knowledge. In this work, we derive a conjugate momentum thruster force estimator and implement it on a numerical simulator that uses thruster force to perform thruster-assisted walking.

Quadratic Programming Optimization for Bio-Inspired Thruster-Assisted Bipedal Locomotion on Inclined Slopes

Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds using their wings to run on a nearly vertical wall. In this work, we show quadratic programming with contact constraints which is then given to the whole body controller to map on robot states to produce a thruster-assisted slope walking controller for our state-of-the-art Harpy platform. Harpy is a bipedal robot capable of legged-aerial locomotion using its legs and thrusters attached to its main frame. The optimization-based walking controller has been used for dynamic locomotion such as slope walking, but the addition of thrusters to perform inclined slope walking has not been extensively explored. In this work, we derive a thruster-assisted bipedal walking with the quadratic programming (QP) controller and implement it in simulation to study its performance.

Validation of Tumbling Robot Dynamics with Posture Manipulation for Closed-Loop Heading Angle Control

Navigating rugged terrain and steep slopes is a challenge for mobile robots. Conventional legged and wheeled systems struggle with these environments due to limited traction and stability. Northeastern University's COBRA (Crater Observing Bio-inspired Rolling Articulator), a novel multi-modal snake-like robot, addresses these issues by combining traditional snake gaits for locomotion on flat and inclined surfaces with a tumbling mode for controlled descent on steep slopes. Through dynamic posture manipulation, COBRA can modulate its heading angle and velocity during tumbling. This paper presents a reduced-order cascade model for COBRA's tumbling locomotion and validates it against a high-fidelity rigid-body simulation, presenting simulation results that show that the model captures key system dynamics.

Enabling steep slope walking on Husky using reduced order modeling and quadratic programming

Wing-assisted inclined running (WAIR) observed in some young birds, is an attractive maneuver that can be extended to legged aerial systems. This study proposes a control method using a modified Variable Length Inverted Pendulum (VLIP) by assuming a fixed zero moment point and thruster forces collocated at the center of mass of the pendulum. A QP MPC is used to find the optimal ground reaction forces and thruster forces to track a reference position and velocity trajectory. Simulation results of this VLIP model on a slope of 40 degrees is maintained and shows thruster forces that can be obtained through posture manipulation. The simulation also provides insight to how the combined efforts of the thrusters and the tractive forces from the legs make WAIR possible in thruster-assisted legged systems.

Capture Point Control in Thruster-Assisted Bipedal Locomotion

Despite major advancements in control design that are robust to unplanned disturbances, bipedal robots are still susceptible to falling over and struggle to negotiate rough terrains. By utilizing thrusters in our bipedal robot, we can perform additional posture manipulation and expand the modes of locomotion to enhance the robot's stability and ability to negotiate rough and difficult-to-navigate terrains. In this paper, we present our efforts in designing a controller based on capture point control for our thruster-assisted walking model named Harpy and explore its control design possibilities. While capture point control based on centroidal models for bipedal systems has been extensively studied, the incorporation of external forces that can influence the dynamics of linear inverted pendulum models, often used in capture point-based works, has not been explored before. The inclusion of these external forces can lead to interesting interpretations of locomotion, such as virtual buoyancy studied in aquatic-legged locomotion. This paper outlines the dynamical model of our robot, the capture point method we use to assist the upper body stabilization, and the simulation work done to show the controller's feasibility.

Reinforcement Learning-Based Model Matching to Reduce the Sim-Real Gap in COBRA

This paper employs a reinforcement learning-based model identification method aimed at enhancing the accuracy of the dynamics for our snake robot, called COBRA. Leveraging gradient information and iterative optimization, the proposed approach refines the parameters of COBRA's dynamical model such as coefficient of friction and actuator parameters using experimental and simulated data. Experimental validation on the hardware platform demonstrates the efficacy of the proposed approach, highlighting its potential to address sim-to-real gap in robot implementation.

Thruster-Assisted Incline Walking

In this study, our aim is to evaluate the effectiveness of thruster-assisted steep slope walking for the Husky Carbon, a quadrupedal robot equipped with custom-designed actuators and plural electric ducted fans, through simulation prior to conducting experimental trials. Thruster-assisted steep slope walking draws inspiration from wing-assisted incline running (WAIR) observed in birds, and intriguingly incorporates posture manipulation and thrust vectoring, a locomotion technique not previously explored in the animal kingdom. Our approach involves developing a reduced-order model of the Husky robot, followed by the application of an optimization-based controller utilizing collocation methods and dynamics interpolation to determine control actions. Through simulation testing, we demonstrate the feasibility of hardware implementation of our controller.