Design of a Jumping Control Framework with Heuristic Landing for Bipedal Robots
Jingwen Zhang,Junjie Shen,Yeting Liu,Dennis Hong,Jingwen Zhang,Junjie Shen,Yeting Liu,Dennis Hong
Generating dynamic jumping motions on legged robots remains a challenging control problem as the full flight phase and large landing impact are expected. Compared to quadrupedal robots or other multi-legged robots, bipedal robots place higher requirements for the control strategy given a much smaller support polygon. To solve this problem, a novel heuristic landing planner is proposed in this pape...
