TY - GEN
T1 - Dynamic Modeling and Motion Control of a Thruster-Assisted Bipedal Robot
AU - Wei, Ze
AU - Tan, Jiaying
AU - Huang, Yan
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2026.
PY - 2026
Y1 - 2026
N2 - With the advancement of robotics technology, bipedal robots have become a key research focus in the field of intelligent robotics. To enhance their locomotive performance and environmental adaptability, existing studies have integrated thrusters into bipedal robots,which are intended to provide assistance. In this paper, we constructed the walking dynamics model of bipedal robots under the influence of external force fields realized by thrusters. A posture adjustment control strategy is also proposed for bipedal robots, which is used to control the pitch angle and yaw angle of the robot. Additionally, we quantitatively analyzed how external force fields of different magnitude and directions affect key performance metrics of bipedal robots, including lower limb joint torques, overall power consumption, and energy efficiency. Simulation results indicate that the thruster-generated external force field can play positive effects for posture adjustment and overall power consumption optimization of bipedal robots.
AB - With the advancement of robotics technology, bipedal robots have become a key research focus in the field of intelligent robotics. To enhance their locomotive performance and environmental adaptability, existing studies have integrated thrusters into bipedal robots,which are intended to provide assistance. In this paper, we constructed the walking dynamics model of bipedal robots under the influence of external force fields realized by thrusters. A posture adjustment control strategy is also proposed for bipedal robots, which is used to control the pitch angle and yaw angle of the robot. Additionally, we quantitatively analyzed how external force fields of different magnitude and directions affect key performance metrics of bipedal robots, including lower limb joint torques, overall power consumption, and energy efficiency. Simulation results indicate that the thruster-generated external force field can play positive effects for posture adjustment and overall power consumption optimization of bipedal robots.
KW - Bipedal robot
KW - Dynamics modeling
KW - External force field
KW - Motion control
UR - https://www.scopus.com/pages/publications/105023169638
U2 - 10.1007/978-981-95-4472-1_17
DO - 10.1007/978-981-95-4472-1_17
M3 - Conference contribution
AN - SCOPUS:105023169638
SN - 9789819544714
T3 - Communications in Computer and Information Science
SP - 199
EP - 210
BT - Methods and Applications for Modeling and Simulation of Complex Systems - 24th Asia Simulation Conference, AsiaSim 2025, Proceedings
A2 - Cai, Wentong
A2 - Low, Malcolm
A2 - Tan, Gary
A2 - D'Angelo, Gabriele
A2 - Ta, Duong
PB - Springer Science and Business Media Deutschland GmbH
T2 - 24th Asia Simulation Conference on Methods and Applications for Modeling and Simulation of Complex Systems, AsiaSim 2025
Y2 - 17 November 2025 through 19 November 2025
ER -