Wing-assisted inclined running (WAIR) observed in some young birds, is an attractive maneuver that can be extended to legged aerial systems. This study proposes a control method using a modified Variable Length Inverted Pendulum (VLIP) by assuming a fixed zero moment point and thruster forces collocated at the center of mass of the pendulum. A QP MPC is used to find the optimal ground reaction forces and thruster forces to track a reference position and velocity trajectory. Simulation results of this VLIP model on a slope of 40 degrees is maintained and shows thruster forces that can be obtained through posture manipulation. The simulation also provides insight to how the combined efforts of the thrusters and the tractive forces from the legs make WAIR possible in thruster-assisted legged systems.

翻译：翼助斜坡奔跑（WAIR）现象见于某些幼鸟，是一种具有吸引力的机动方式，可扩展至腿式空中系统。本研究提出一种基于改进型变长倒立摆（VLIP）的控制方法，其假设零力矩点固定且推进力与摆体质心共位。采用二次规划模型预测控制（QP MPC）求解最优地面反作用力与推进力，以跟踪参考位置与速度轨迹。该VLIP模型在40度斜坡上的仿真结果保持稳定，并展示了通过姿态调控可实现的推进力。仿真进一步揭示了推进器与腿部牵引力的协同作用如何使WAIR在推进辅助腿式系统中成为可能。