Propeller-Assisted Robust 3D Hopping Robot with Hierarchical Force Allocation

2026-06-06 · Chuhan Zhang, Hongbo Zhang, Yanlin Chen, Yunxi Tang, Yun-Hui Liu, Mingyi Liu, Xiangyu Chu arxiv

Monopedal hopping robots are conceptually simple but highly dynamic and inherently unstable. Achieving robust 3D hopping is still difficult because ground reaction forces are available only during the short stance phase, while the robot is underactuated in flight. A key unresolved issue is how to improve flight-phase control authority. Propeller assistance provides a promising solution, but it requires careful coordination of leg-generated contact forces and propeller thrusts across stance and flight. This paper presents Pro-OMEGA2, a propeller-assisted 3D monopedal hopping robot with an active 3-RSR parallel leg and a trunk-mounted tri-rotor for auxiliary attitude regulation. To address the force coordination challenge, we propose a Hierarchical Force Allocation (HFA) framework based on a single rigid body (SRB) model. The leg generates the main stance contact wrench, while the tri-rotor provides auxiliary attitude regulation, compensating the residual attitude moment in stance and maintaining attitude during flight. Real-robot experiments in indoor and outdoor scenarios demonstrate sustained 3D hopping, including terrain transitions and impulsive push recovery, validating robustness under unmodeled contact and external disturbances.

📄 PDF Abstract BibTeX arXiv:2606.08186

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Learning Energy-Efficient Air--Ground Actuation for Hybrid Robots on Stair-Like Terrain

2026-03-13 · Jiaxing Li, Wen Tian, Xinhang Xu, Junbin Yuan 외 arxiv

Hybrid aerial--ground robots offer both traversability and endurance, but stair-like discontinuities create a trade-off: wheels alone often stall at edges, while flight is energy-hungry for small height gains. We propose…

Reinforcement Learning

Discrete VHCs for Propeller Motion of a Devil-Stick using purely Impulsive Inputs

2025-08-20 · Aakash Khandelwal, Ranjan Mukherjee arxiv

The control problem of realizing propeller motion of a devil-stick in the vertical plane using impulsive forces applied normal to the stick is considered. This problem is an example of underactuated robotic juggling and …

Mid-flight Propeller Failure Detection and Control of Propeller-deficient Quadcopter using Reinforcement Learning

2020-02-26 · Rohitkumar Arasanipalai, Aakriti Agrawal, Debasish Ghose

Quadcopters can suffer from loss of propellers in mid-flight, thus requiring a need to have a system that detects single and multiple propeller failures and an adaptive controller that stabilizes the propeller-deficient …

Fault Detection reinforcement-learning Reinforcement Learning Reinforcement Learning (RL)

Propeller Motion of a Devil-Stick using Normal Forcing

2025-01-29 · Aakash Khandelwal, Ranjan Mukherjee

The problem of realizing rotary propeller motion of a devil-stick in the vertical plane using forces purely normal to the stick is considered. This problem represents a nonprehensile manipulation task of an underactuated…

Swim-and-Breach at Palm Scale: A Rudder-Steered Two-Propeller Underwater Robot Platform with Differential-Thrust Pitch Control

2026-09-15 · Daehyun Choi, Ian Bergerson, Hengjia Zhu, Tianjun Lan 외 arxiv

We present a palm-scale (65 mm, 34 g) swim-and-breach robot platform. Two vertically stacked propellers provide both propulsion and differential-thrust pitch control under a proportional-integral-derivative (PID) loop, a…