Online Optimal Landing Control of the MIT Mini Cheetah
Se Hwan Jeon,Sangbae Kim,Donghyun Kim,Se Hwan Jeon,Sangbae Kim,Donghyun Kim
Quadrupedal landing is a complex process involving large impacts, elaborate contact transitions, and is a crucial recovery behavior observed in many biological animals. This work presents a real-time, optimal landing controller that is free of pre-specified contact schedules. The controller determines optimal touchdown postures and reaction force profiles and is able to recover from a variety of f...
