Integrated Posture Manipulation and Thrust Vectoring for Thruster-Assisted Robot Control
A closed-loop feedback control architecture that regulates a robot's contact and body forces by simultaneously reshaping its posture and steering onboard thrusters (air jets or thrusters). Studied across two thruster-assisted platforms - a morphing-wing flapping robot stabilized in roll, pitch and yaw by air jets, and a bipedal robot whose dual thrusters stabilize frontal-plane walking dynamics - it shows how adding thrust vectoring to posture control enables untethered flight and dynamic legged locomotion that posture alone cannot achieve.
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Feedback Design and Implementation for Integrated Posture Manipulation and Thrust Vectoring A
A Master's thesis on the closed-loop control and system integration of two thruster-assisted robots that share one theme: regulating stability by combining posture manipulation with thrust vectoring.…