  Real-time constraint satisfaction for robots can be quite challenging due to
the high computational complexity that arises when accounting for the system
dynamics and environmental interactions, often requiring simplification in
modelling that might not necessarily account for all performance criteria.
  We instead propose an optimization-free approach where reference trajectories
are manipulated to satisfy constraints brought on by ground contact as well as
those prescribed for states and inputs. Unintended changes to trajectories
especially ones optimized to produce periodic gaits can adversely affect gait
stability, however we will show our approach can still guarantee stability of a
gait by employing the use of coaxial thrusters that are unique to our robot.
