Preprint
Oct 2026
Bio-inspired Thrust-Assisted Trotting on a legged-Aerial Robot via Real-Time QP-MPC
This paper presents the hardware implementation of a quadratic program-based controller on Harpy: thruster-assisted bipedal robot to perform thruster-assisted trotting. This is inspired by wing-assisted locomotion observed in birds such as the chukar partridge, which employ thrust vectoring to manipulate the ground rea...
Shreyansh Pitroda, Eric Sihite, Alireza Ramezani et al.
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