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Proposes a unified control framework based on contraction metrics for quadrupedal aerial robots
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Kaushik Venkatesh Krishnamurthy et al. propose a design and control method for a multimodal quadrupedal aerial-legged robot: offline, contraction metrics are separately searched for the walking and flying domains, and then an online energy-based Control Lyapunov Function Quadratic Program (CLF QP) is used to unify them, achieving cross-domain optimal control allocation. The authors state that simulations demonstrate the cross-domain control allocation effect of the method, and experimental results validate the mechanical feasibility of the hardware and the feasibility of a thruster-assisted trotting gait. This work was published at the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS, Pittsburgh).
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- Design and Control of a Multimodal Legged-Aerial Robot via Separate Control Contraction Metrics
A paper proposes a design and control method for a multimodal quadrupedal aerial-legged robot, using separate Control Contraction Metrics (CCM) to search offline for contraction metrics for walking and flight respectively, unified by an online energy-based Control Lyapunov Function Quadratic Program (CLF QP) to achieve optimal cross-domain control allocation.
arXiv cs.RO ·