  Inspired by Chukars wing-assisted incline running (WAIR), in this work, we
employ a high-fidelity model of our Husky Carbon quadrupedal-legged robot to
walk over steep slopes of up to 45 degrees. Chukars use the aerodynamic forces
generated by their flapping wings to manipulate ground contact forces and
traverse steep slopes and even overhangs. By exploiting the thrusters on Husky,
we employed a collocation approach to rapidly resolving the joint and thruster
actions. Our approach uses a polynomial approximation of the reduced-order
dynamics of Husky, called HROM, to quickly and efficiently find optimal control
actions that permit high-slope walking without violating friction cone
conditions.
