Despite major advancements in control design that are robust to unplanned disturbances, bipedal robots are still susceptible to falling over and struggle to negotiate rough terrains. By utilizing thrusters in our bipedal robot, we can perform additional posture manipulation and expand the modes of locomotion to enhance the robot's stability and ability to negotiate rough and difficult-to-navigate terrains. In this paper, we present our efforts in designing a controller based on capture point control for our thruster-assisted walking model named Harpy and explore its control design possibilities. While capture point control based on centroidal models for bipedal systems has been extensively studied, the incorporation of external forces that can influence the dynamics of linear inverted pendulum models, often used in capture point-based works, has not been explored before. The inclusion of these external forces can lead to interesting interpretations of locomotion, such as virtual buoyancy studied in aquatic-legged locomotion. This paper outlines the dynamical model of our robot, the capture point method we use to assist the upper body stabilization, and the simulation work done to show the controller's feasibility.

翻译：尽管针对非预期扰动的鲁棒控制设计已取得重大进展，双足机器人仍易发生倾倒，且在崎岖地形上的行进能力有限。通过在双足机器人中引入推力器，我们能够执行额外的姿态调控并拓展运动模式，从而增强机器人的稳定性及其在崎岖难行地形中的通过能力。本文介绍了我们为名为Harpy的推力辅助步行模型设计基于捕获点控制的控制器的工作，并探讨了其控制设计的可能性。虽然基于质心动量模型的双足系统捕获点控制已得到广泛研究，但能够影响线性倒立摆模型（常见于基于捕获点的研究中）动力学的外部力引入此前尚未被探索。引入此类外力可为运动模式带来新颖的阐释，例如在水生腿式运动中研究的虚拟浮力现象。本文概述了机器人的动力学模型、用于辅助上身稳定的捕获点方法，以及为验证控制器可行性所进行的仿真工作。