Jet-HR2: A Flying Bipedal Robot Based on Thrust Vector Control

@article{Li2022JetHR2AF,
  title={Jet-HR2: A Flying Bipedal Robot Based on Thrust Vector Control},
  author={Yuhang Li and Yuhao Zhou and Junbin Huang and Zijun Wang and Shunjie Zhu and Kai Wu and Li Zheng and Jiajin Luo and Rui Cao and Yun Zhang and Zhifeng Huang},
  journal={IEEE Robotics and Automation Letters},
  year={2022},
  volume={7},
  pages={4590-4597}
}
Achieving short-distance flight helps improve the efficiency of bipedal robots moving in complex environments (e.g., crossing large obstacles or reaching high places) for rapid emergency missions. This study proposes a design of a flying bipedal robot named Jet-HR2 (Fig. 1(a)). The robot has 10 joints driven by brushless motors and harmonic drives for locomotion. To overcome the challenge of the stable-attitude takeoff under low thrust-to-weight conditions, the robot was designed based on the… 
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