Appending Propellers to Leg for Enhancing Robustness of Hopping Locomotion
摘要
Legged robots often face challenges in maintaining stability, particularly under disturbances. Various appendage-assisted designs have been explored to enhance robustness, but many suffer from internal collisions, reduced dynamic response, or intentionally introduce a flying mode. However, the potential of minimal appendage assistance while preserving legged locomotion characteristics remains underexplored. This paper presents a novel approach to enhancing the robustness of a monopedal hopping robot by integrating lightweight propellers into its leg. These propellers generate additional forces to stabilize body orientation and mitigate disturbances while maintaining a thrust-to-weight ratio below 1, ensuring the robot retains its fundamental legged dynamics. The robot features a 3-RSR parallel leg mechanism for hopping locomotion and employs a control framework that integrates stance-phase energy regulation, flight-phase control, and optimal thrust distribution. A dynamic model captures interactions between the leg, body, and propellers. Simulations and experiments demonstrate that propeller assistance enables recovery from significant disturbances, such as an initial pitch offset of 20 \(^{\circ }\) , and sustains stable periodic hopping under perturbations. The results show that appending propellers to leg can improve robustness in dynamic locomotion, offering a practical solution for deployment in challenging environments.