Dynamic ground and aerial locomotion

INV-24051

Background:

Bipedal robots are designed to mimic human walking and navigate difficult terrains, but they face major challenges in unpredictable outdoor environments. Traditional models often fail to recover from slips or disturbances, limiting their effectiveness in dynamic and hazardous conditions. Although adding thrusters has been proposed to improve stability and movement, existing models like Leonardo and Salto-1P use propulsion mainly for mid-air stability and do not combine it with leg actuators for more complex actions. Current methods, which include integrating propellers or thrusters, do not fully address these limitations, as they lack the combination of thruster and leg actuation needed for advanced locomotion. As a result, these robots still struggle with maintaining balance and stability in tough conditions, underscoring the need for more effective and adaptable solutions for bipedal robotic movement.

Description:

Northeastern researchers have developed Harpy, an innovative bipedal robot that integrates thrusters to address the limitations of traditional bipedal robots. Harpy combines a legged assembly with an aerial assembly, using a pantograph and series-actuated legs optimized with carbon fiber tubes for high stiffness and low weight. The actuators, created with advanced 3D printing, are both lightweight and strong. The aerial assembly features a sophisticated thruster system with carbon-fiber-aluminum composite mounts, a real sense camera, and advanced propulsion units for stability and navigation. This integration allows Harpy to perform complex movements such as high jumps and slope walking with exceptional stability and agility. The 3D-printed materials provide a high power-to-weight ratio, essential for efficient movement in diverse terrains. Harpy’s ability to operate in low-gravity environments makes it ideal for underwater or space exploration, search and rescue missions, and military operations. Rigorous testing has shown its precise performance, making Harpy a groundbreaking advancement in robotic locomotion.

Benefits:

• Increased agility and speed: Enhanced movement capabilities allow for quick and dynamic actions.
• Improved stability and balance: Thruster integration ensures better control and stability.
• Enhanced versatility: Capable of performing a wide range of complex movements.
• Navigates challenging terrain: Effectively handles uneven and unpredictable surfaces.
• Operates in extreme environments: Functions in underwater and zero-gravity conditions.
• Ideal for search and rescue: Suitable for missions in difficult and hazardous areas.
• Applicable in military operations: Effective for strategic and operational tasks.
• Underwater exploration: Excels in underwater navigation and tasks.
• Space exploration and maintenance: Suitable for operations in space, including maintenance and exploration tasks.

Applications:

• Search and Rescue missions
• Military reconnaissance and surveillance
• Underwater exploration
• Space maintenance and exploration

Opportunity

• Research collaboration.
• licensing

IP Status

• Provisional patent

Seeking

• Development Partner
• Commercial Partner
• licensing