Legged walking on inclined surfaces

摘要

The main contributions of this MS Thesis is centered around taking steps towards successful multi-modal demonstrations using Northeastern's legged-aerial robot, Husky Carbon. This work discusses the challenges involved in achieving multi-modal locomotion such as trotting-hovering and thruster-assisted incline walking and reports progress made towards overcoming these challenges. Animals like birds use a combination of legged and aerial mobility, as seen in Chukars's wing-assisted incline running (WAIR), to achieve multi-modal locomotion. Chukars use forces generated by their flapping wings to manipulate ground contact forces and traverse steep slopes and overhangs. Husky's design takes inspirations from birds such as Chukars. This MS thesis presentation outlines the mechanical and electrical details of Husky 's legged and aerial units. The thesis presents simulated incline walking using a high-fidelity model of the Husky Carbon over steep slopes of up to 45 degrees.--Author's abstract