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simmediumquadrupedmetric · varies
Thruster-Enhanced Locomotion: A Decoupled Model Predictive Control with Learned Contact Residuals
Description
Husky Carbon, a robot developed by Northeastern University, serves as a research platform to explore unification of posture manipulation and thrust vectoring. Unlike conventional quadrupeds, its joint actuators and thrusters enable enhanced control authority, facilitating thruster-assisted narrow-path walking. While a unified Model Predictive Control (MPC) framework optimizing both ground reaction forces and thruster forces could theoretically address this control problem, its feasibility is lim