A bipedal robot having a legged assembly and an aerial assembly is described. The legged assembly includes two legs, each leg having a hip frontal joint, a hip sagittal joint, and a knee joint. The aerial assembly includes two thrusters mounted on a carbon fiber-aluminum composite mount. Actuators for the joints include 3D printed housings with embedded components. A controller generates walking trajectories and controls the thrusters to assist with stabilization and obstacle traversal. The robot is capable of dynamic multimodal locomotion, combining legged movement with thruster-assisted stabilization and jumping to navigate challenging terrain.
BIPEDAL ROBOT WITH INTEGRATED THRUSTER-ASSISTED LOCOMOTION
2025-06-26
Patent
Electronic Resource
English
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