通过喷气辅助稳定，实现扑翼与双足机器人的自主飞行与动态行走
Feedback Design and Implementation for Integrated Posture Manipulation and Thrust Vectoring
- 融合扑翼动力与多喷口喷气，实现姿态稳定控制
- 使Aerobat首次完成无缆飞行，Harpy实现初步动态行走
- 为腿式机器人提供新思路，适合机器人控制研究者
本硕士论文介绍了我在两个机器人平台闭环控制与系统集成方面的贡献：1）Aerobat，一种依靠空气喷流稳定的扑翼机器人；2）Harpy，配备双推进器的双足机器人。两者均结合姿态调节与推力矢量控制以实现稳定与可控运动。针对Aerobat，我开发了软件与控制架构，实现了其首次无缆飞行。控制系统融合扑翼动力学与多喷口空气喷流，保持滚转、俯仰和偏航稳定。相关成果发表于IEEE/RSJ国际智能机器人与系统会议（IROS）。对于Harpy，我实现了闭环控制框架，整合主动推进器辅助前向动力学稳定性，推动其实现初步的无缆动态行走。该方法展示了推力辅助稳定性对腿式机器人运动性能的提升作用，此前未被探索。
原文摘要 · Abstract (English)
This MS thesis outlines my contributions to the closed loop control and system integration of two robotic platforms: 1) Aerobat, a flapping wing robot stabilized by air jets, and 2) Harpy, a bipedal robot equipped with dual thrusters. Both systems share a common theme of the integration of posture manipulation and thrust vectoring to achieve stability and controlled movement. For Aerobat, I developed the software and control architecture that enabled its first untethered flights. The control system combines flapping wing dynamics with multiple air jet stabilization to maintain roll, pitch and yaw stability. These results were published in the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). For Harpy, I implemented a closed-loop control framework that incorporates active thruster assisted frontal dynamics stabilization . My work led to preliminary untethered dynamic walking. This approach demonstrates how thrust assisted stability can enhance locomotion in legged robots which has not been explored before.
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