arXiv 2510.095262025-10-10cs.RO

通过结构复用实现动态四足地面与空中运动

Dynamic Quadrupedal Legged and Aerial Locomotion via Structure Repurposing

Department of Electrical and Computer Engineering, Northeastern University（电气与计算机工程系，东北大学）；Department of Aerospace Engineering, California Institute of Technology（航空航天工程系，加州理工学院）

Chenghao Wang, Kaushik Venkatesh Krishnamurthy, Shreyansh Pitroda, Adarsh Salagame, Ioannis Mandralis, Eric Sihite, Alireza Ramezani, Morteza Gharib

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AI总结：

本文介绍东北大学Husky v.2四足机器人，通过结构复用将姿态操纵与推力矢量引入多模态运动，实现动态地面行走与空中悬停，解决了多模态运行间的需求冲突。

摘要：

多模态地面-空中机器人已被广泛研究，其重大挑战在于整合不同运行模式间的冲突需求。东北大学开发的Husky机器人系列，特别是本研究讨论的Husky v.2，通过结构复用将姿态操纵与推力矢量引入多模态运动来解决此挑战。该四足机器人具有可被重新用于动态足式运动和飞行的腿部结构。本文介绍了该机器人的硬件设计，并报告了动态四足足式运动和悬停的初步结果。

英文摘要：

Multi-modal ground-aerial robots have been extensively studied, with a significant challenge lying in the integration of conflicting requirements across different modes of operation. The Husky robot family, developed at Northeastern University, and specifically the Husky v.2 discussed in this study, addresses this challenge by incorporating posture manipulation and thrust vectoring into multi-modal locomotion through structure repurposing. This quadrupedal robot features leg structures that can be repurposed for dynamic legged locomotion and flight. In this paper, we present the hardware design of the robot and report primary results on dynamic quadrupedal legged locomotion and hovering.

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