Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running
Kevin Green,Ross L. Hatton,Jonathan Hurst,Kevin Green,Ross L. Hatton,Jonathan Hurst
We propose a method to generate actuation plans for a reduced order, dynamic model of bipedal running. This method explicitly enforces robustness to ground uncertainty. The plan generated is not a fixed body trajectory that is aggressively stabilized: instead, the plan interacts with the passive dynamics of the reduced order model to create emergent robustness. The goal is to create plans for legg...
