Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics
Vince Kurtz,He Li,Patrick M. Wensing,Hai Lin,Vince Kurtz,He Li,Patrick M. Wensing,Hai Lin
Seemingly in defiance of basic physics, cats consistently land on their feet after falling. In this paper, we design a controller that lands the Mini Cheetah quadruped robot on its feet as well. Specifically, we explore how trajectory optimization and machine learning can work together to enable highly dynamic bioinspired behaviors. We find that a reflex approach, in which a neural network learns ...
