Legged-aerial multimodal robots can make the most of both legged and aerial systems. In this paper, we propose a control framework that bypasses heavy onboard computers by using an optimization-free Explicit Reference Governor that incorporates external thruster forces from an attitude controller. Ground reaction forces are maintained within friction cone constraints using costly optimization solvers, but the ERG framework filters applied velocity references that ensure no slippage at the foot end. We also propose a Conjugate momentum observer, that is widely used in Disturbance Observation to estimate ground reaction forces and compare its efficacy against a constrained model in estimating ground reaction forces in a reduced-order simulation of Husky.

翻译：腿式-空中多模态机器人能够充分利用腿式与空中系统的优势。本文提出一种控制框架，通过采用无优化的显式参考调节器（Explicit Reference Governor）并结合来自姿态控制器的外部推力，从而规避对重型机载计算机的依赖。地面反作用力通常需借助计算代价高昂的优化求解器以维持在摩擦锥约束内，而ERG框架通过对施加的速度指令进行滤波，确保足端不发生滑移。此外，我们提出一种在扰动观测中广泛应用的共轭动量观测器（Conjugate momentum observer），用于估计地面反作用力，并在Husky机器人的降阶仿真中，将其与约束模型在估计地面反作用力方面的性能进行了对比。