BIPEDAL ROBOT WITH INTEGRATED THRUSTER-ASSISTED LOCOMOTION

Abstract: 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.

Inventor(s): Shreyansh Pitroda, Alireza Ramezani, Morteza Gharib

CPC Classification: B60F5/02 (VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES (air-cushion vehicles ))

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