Thruster Assisted

Thruster-assisted locomotion in legged robots aims to enhance stability and mobility, particularly on challenging terrains, by integrating thrusters for posture control and supplemental force generation. Current research focuses on developing control algorithms, such as capture point control, and reduced-order models to effectively manage the interaction between legged locomotion and thruster forces, drawing inspiration from biological systems like wing-assisted incline running in birds. This approach shows promise for improving the robustness and adaptability of legged robots in various applications, including search and rescue and exploration in complex environments.