Aerial-Biped

The robot uses quadrotor to enhance maneuverability, enabling a richer physical expression. In addition, motions of the legs are automatically generated according to the motion of the quadrotor using a method that generates the robot's foot trajectory automatically that realize the appearance of bipedal walking according to the body movement.

The system takes the speed of the quadrotor as an input and legs motions are produced so that the velocity of the foot in contact with the ground to zero, and bipedal walking motion is generated. The velocity of the quadrotor is estimated by the motion capture data, and the input of the servomotors of each joint is generated using the optimized control policy.