Four-Dimensional Gait Surfaces for a Tilt-Rotor—Two Color Map Theorem

Abstract

This article presents the four-dimensional surfaces that guide the gait plan for a tilt-rotor. The previous gaits analyzed in the tilt-rotor research are inspired by animals; no theoretical base backs the robustness of these gaits. This research deduces the gaits by diminishing the adverse effect of the attitude of the tilt-rotor for the first time. Four-dimensional gait surfaces are subsequently found on which the gaits are expected to be robust to the attitude. These surfaces provide the region where the gait is suggested to be planned. However, a discontinuous region may hinder the gait plan process while utilizing the proposed gait surfaces. The ‘Two Color Map Theorem’ is then established to guarantee the continuity of each gait designed. The robustness of the typical gaits on the gait surface, obeying the Two Color Map Theorem, is demonstrated by comparing the singular curves in attitude with the gaits not on the gait surface. The result shows that the gaits on the gait surface receive wider regions of the acceptable attitudes.

Keywords

• tilt-rotor
• feedback linearization
• singular
• gait plan
• robustness
• color map theorem