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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    Title :

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


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Deng, Yimin (editor) / Huang, Xiaopeng (author) / Cheng, Hui (author)

    Conference:

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



    Publication date :

    2025-03-04


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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