Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control
Xiaobin Xiong,Aaron D. Ames,Xiaobin Xiong,Aaron D. Ames
In this paper, we present a sequential motion planning and control method for generating somersaults on bipedal robots. The somersault (backflip or frontflip) is considered as a coupling between an axile hopping motion and a rotational motion about the center of mass of the robot; these are encoded by a hopping Spring-loaded Inverted Pendulum (SLIP) model and the rotation of a Flywheel, respective...
