{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,14]],"date-time":"2026-05-14T22:51:54Z","timestamp":1778799114599,"version":"3.51.4"},"reference-count":14,"publisher":"Emerald","issue":"5","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,10,16]]},"abstract":"<jats:sec>\n                  <jats:title>Purpose<\/jats:title>\n                  <jats:p>The purpose of this paper is to design a flying wheel-legged humanoid robot (FWLR), endowing the robot with flight capability to improve the obstacle-crossing ability of the wheel-legged humanoid robot. A flight control method using thrust-vector-control (TVC) under constant thrust strength is proposed, which reduces the performance requirements on the response speed of thrusters.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Design\/methodology\/approach<\/jats:title>\n                  <jats:p>To endow the robot with flight capability, three sets of thrusters are installed at the robot\u2019s back and two arm ends to provide flight lift and the direction of thrust can be changed through the arm swing. According to the robot configuration, this paper established a linearized dynamic model and proposed a constant-strength-thrust-vector-control (CSTVC) framework enabling the robot to achieve flight without thrust intensity change.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Findings<\/jats:title>\n                  <jats:p>With the proposed modeling method and CSTVC framework, FWLR can inhibit attitude and position drift during takeoff and hovering, and has certain adaptability to takeoff attitude. Finally, FWLR reached a flying height up to 1\u2009m under a 30\u2009kg large self-weight with fixed thrust strength.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Originality\/value<\/jats:title>\n                  <jats:p>The design, modeling and flight control method proposed in this paper enables a human-sized wheel-legged humanoid robot to achieve takeoff and hovering for the first time. The movement range of wheel-legged humanoid robot is extended to the air, thereby enhancing its application value in emergency tasks such as disaster search-and-rescue.<\/jats:p>\n               <\/jats:sec>","DOI":"10.1108\/ir-09-2024-0411","type":"journal-article","created":{"date-parts":[[2025,1,30]],"date-time":"2025-01-30T06:50:10Z","timestamp":1738219810000},"page":"672-684","source":"Crossref","is-referenced-by-count":4,"title":["System design and flight control of a flying wheel-legged humanoid robot (FWLR)"],"prefix":"10.1108","volume":"52","author":[{"given":"Bo","family":"Xu","sequence":"first","affiliation":[{"name":"Harbin Institute of Technology State Key Laboratory of Robotics and System, , Harbin,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xu","family":"Li","sequence":"additional","affiliation":[{"name":"Harbin Institute of Technology State Key Laboratory of Robotics and System, , Harbin,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haibo","family":"Feng","sequence":"additional","affiliation":[{"name":"Harbin Institute of Technology State Key Laboratory of Robotics and System, , Harbin,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yili","family":"Fu","sequence":"additional","affiliation":[{"name":"Harbin Institute of Technology State Key Laboratory of Robotics and System, , Harbin,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2025,2,3]]},"reference":[{"key":"2025101507181373100_ref001","unstructured":"Boston-Dynamics\n           (2017), \u201cHandle mobile box handling robots for logistics\u201d, available at:www.bostondynamics.com\/handle"},{"key":"2025101507181373100_ref002","unstructured":"Gravity Industries\n           (2017), \u201cBritains Iron Man' Revealed! - Reuters News\u201d, available 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