Quadruped Robot Hopping on Two Legs
Shenggao Li,Hua Chen,Wei Zhang,Patrick M. Wensing,Shenggao Li,Hua Chen,Wei Zhang,Patrick M. Wensing
This paper presents a control strategy for quadruped robots to hop on their rear legs in three-dimensional space. The proposed approach generates nominal center of mass (CoM) trajectories based on a template spring-loaded inverted pendulum (SLIP) model. Tracking this reference remains a challenge due to the underactauted nature of balance with point feet. To address this challenge, a control-Lyapu...
