Online Optimal Landing Control of the MIT Mini Cheetah
Name
2110.02799.pdf
Size
4.87 MB
Format
Adobe PDF
Checksum (MD5)
6bd7a127c98dde5fcea9258909445fa6
Author(s)
Jeon, Se Hwan
Kim, Sangbae
Kim, Donghyun
Date Issued
May 23, 2022
Journal
2022 International Conference on Robotics and Automation (ICRA)
Publisher
IEEE
Citation
S. H. Jeon, S. Kim and D. Kim, "Online Optimal Landing Control of the MIT Mini Cheetah," 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA, 2022, pp. 178-184.
Version
Author's final manuscript
Abstract
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 falling configurations. The quadrupedal platform used, the MIT Mini Cheetah, recovered safely from drops of up to 8 m in simulation, as well as from a range of orientations and planar velocities. The controller is also tested on hardware, successfully recovering from drops of up to 2 m.
Description
2022 IEEE International Conference on Robotics and Automation (ICRA) May 23-27, 2022. Philadelphia, PA
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/icra46639.2022.9811796
