Four-dimensional Gait Surfaces for A Tilt-rotor -- Two Color Map Theorem

TL;DR

This paper introduces four-dimensional gait surfaces for tilt-rotors, backed by a novel Two Color Map Theorem, to ensure robust and continuous gait planning independent of attitude variations.

Contribution

It derives gait surfaces that are robust to attitude changes and establishes a Two Color Map Theorem to guarantee gait continuity, a novel theoretical foundation in tilt-rotor gait planning.

Findings

Gaits on the gait surface are more robust to attitude variations.

The Two Color Map Theorem guarantees gait continuity.

Gaits off the surface are less robust and more discontinuous.

Abstract

This article presents the four-dimensional surfaces which instruct 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 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 proposal gait surfaces. A Two Color Map Theorem is then established to guarantee the continuity of each gait designed. The robustness of the typical gaits obeying the Two Color Map Theorem and on the gait surface is demonstrated by comparing the singular curve in attitude with the gaits not on the gait surface. The result shows that the acceptable attitudes enlarge for the gaits on the gait surface.