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

Achieving short-distance flight helps improve the efficiency of humanoid robots moving in complex environments (e.g., crossing large obstacles or reaching high places) for rapid emergency missions. This study proposes a design flying robot named Jet-HR2. The has 10 joints driven by brushless motors and harmonic drives locomotion. To overcome challenge stable-attitude takeoff small thrust-to-weight conditions, was designed based on concept thrust vectoring. propulsion system consists four ducted fans, that is, two fixed waist other mounted feet, vector control. is controlled adjusting attitude foot during flight. A simplified model control strategies are proposed to solve problem instability caused mass errors joint position takeoff. experimental results show robot's spin dive behaviors were effectively suppressed controlling fan foot. successfully achieved at ratio 1.17 (17 kg / 20 kg) maintained stable attitude, height over 1000 mm.