Recently, the robotics community introduced a novel quadrotor design equipped with a pogo stick mechanism. This robot can establish rapid ground contact and save thrust by bouncing, which can improve endurance for near-ground tasks and enable scientific research samplings, such as minerals and soil. In this work, we design and implement a jumping-flying systematic framework, enabling the jumping quadrotor to utilize hopping for movement. To achieve the jumping-flying movement, a real-time motion planning method is proposed to generate thrust-efficient jumping-flying trajectories that kinematically meet rebound characteristics. Simulation and real-world experiments show that the proposed algorithm enables the jumping quadrotor to utilize bouncing for movement, save thrust, and perform jumping flight tasks in unknown environments.


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    Titel :

    A Real-Time Jumping-Flying Trajectory Generation Method for the Jumping Quadrotor


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Yan, Liang (Herausgeber:in) / Duan, Haibin (Herausgeber:in) / Deng, Yimin (Herausgeber:in) / Huang, Xiaopeng (Autor:in) / Cheng, Hui (Autor:in)

    Kongress:

    International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024



    Erscheinungsdatum :

    04.03.2025


    Format / Umfang :

    11 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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