Optimization Based Dynamic Skateboarding of Quadrupedal Robot
Zhe Xu,Mohamed Al-Khulaqui,Hanxin Ma,Jiajun Wang,Quanbin Xin,Yangwei You,Mingliang Zhou,Diyun Xiang,Shiwu Zhang,Zhe Xu,Mohamed Al-Khulaqui,Hanxin Ma,Jiajun Wang,Quanbin Xin,Yangwei You,Mingliang Zhou,Diyun Xiang,Shiwu Zhang
Robot skateboarding is a novel and challenging task for legged robots. Accurately modeling the dynamics of dual floating bases and developing effective planning and control methods present significant complexities in accomplishing skateboarding behavior. This paper focuses on enabling the quadrupedal platform CyberDog2 to achieve dynamic balancing and acceleration on a skateboard. An optimization-...
