Inspired by Chukars wing-assisted incline running (WAIR), in this work, we employ a high-fidelity model of our Husky Carbon quadrupedal-legged robot to walk over steep slopes of up to 45 degrees. Chukars use the aerodynamic forces generated by their flapping wings to manipulate ground contact forces and traverse steep slopes and even overhangs. By exploiting the thrusters on Husky, we employed a collocation approach to rapidly resolving the joint and thruster actions. Our approach uses a polynomial approximation of the reduced-order dynamics of Husky, called HROM, to quickly and efficiently find optimal control actions that permit high-slope walking without violating friction cone conditions.

翻译：受石鸡翼辅助斜坡奔跑（WAIR）启发，本研究采用"Husky Carbon"四足机器人的高保真模型，实现了在高达45度陡坡上的行走。石鸡通过拍打翅膀产生气动力来调控地面接触力，从而穿越陡坡甚至悬垂地形。通过利用"Husky"机器人上的推进器，我们采用配点法快速求解关节与推进器的联合动作。该方法基于称为HROM的降阶动力学多项式近似模型，能够快速高效地寻找最优控制动作，在满足摩擦锥约束条件下实现高坡度行走。