In this paper, I present vectorable thrust control for different locomotion modes by a novel quadruped robot, SPIDAR, equipped with vectoring rotor in each link. First, the robot's unique mechanical design, the dynamics model, and the basic control framework for terrestrial/aerial locomotion are briefly introduced. Second, a vectorable thrust control method derived from the basic control framework for aerial locomotion is presented. A key feature of this extended flight control is its ability to avoid interrotor aerodynamics interference under specific joint configuration. Third, another extended thrust control method and a fundamental gait strategy is proposed for special terrestrial locomotion called crawling that requires all legs to be lifted at the same time. Finally, the experimental results of the flight with a complex joint motion and the repeatable crawling motion are explained, which demonstrate the feasibility of the proposed thrust control methods for different locomotion modes.

翻译：本文提出了一种用于新型四足机器人SPIDAR多运动模式的矢量推力控制方法，该机器人的每个连杆均配备矢量旋翼。首先，简要介绍了该机器人独特的机械结构设计、动力学模型以及地面/空中运动的基础控制框架。其次，提出了一种基于空中运动基础控制框架衍生的矢量推力控制方法。该扩展飞行控制方法的关键特性在于能够在特定关节构型下避免旋翼间的气动干扰。再次，针对需要同时抬起所有腿的特殊地面爬行运动，提出了另一种扩展推力控制方法与基础步态策略。最后，通过包含复杂关节运动的飞行实验与可重复爬行运动的实验结果，验证了所提出的推力控制方法在不同运动模式下的可行性。