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May 22, 2026Journal of Dynamic Systems Measurement and ControlOpen Access

WAIR Enabled by Thrust Vectoring Through Posture Manipulation on a Multimodal Aerial-Legged Robot

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Authors

KKKaushik Venkatesh KrishnamurthyARAlireza RamezaniMGMorteza Gharib

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Overview

Randomized trial investigates thrust vectoring effects on aerial-legged robots' performance, suggesting enhanced maneuverability.

Key Points

  • This research aims to develop a control method for aerial-legged robots to optimize wing-assisted inclined running (WAIR).
  • Used a Single Rigid Body model with massless legs and collocated thruster forces.
  • Employed Model Predictive Control (MPC) to optimize ground reaction forces and thrust.
  • Conducted MATLAB simulations on steep slopes to analyze the effects of posture manipulation.
  • Simulation results show that combined thruster and leg forces enable effective WAIR.
  • Posture manipulation on a 40-degree slope significantly enhances thrust vectoring capabilities.
  • Linearized dynamics analysis confirms the controllability and influence of thrusters in legged systems.

Cite This Study

Krishnamurthy et al. (2026) studied this question.

synapsesocial.com/papers/6a0ff374d674f7c03778c28bhttps://doi.org/10.1115/1.4071980
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