| dc.contributor.author | Jeon, Se Hwan | |
| dc.contributor.author | Kim, Sangbae | |
| dc.contributor.author | Kim, Donghyun | |
| dc.date.accessioned | 2024-02-29T20:16:31Z | |
| dc.date.available | 2024-02-29T20:16:31Z | |
| dc.date.issued | 2022-05-23 | |
| dc.identifier.uri | https://hdl.handle.net/1721.1/153616 | |
| dc.description | 2022 IEEE International Conference on Robotics and Automation (ICRA) May 23-27, 2022. Philadelphia, PA | en_US |
| dc.description.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. | en_US |
| dc.language.iso | en | |
| dc.publisher | IEEE | en_US |
| dc.relation.isversionof | 10.1109/icra46639.2022.9811796 | en_US |
| dc.rights | Creative Commons Attribution-Noncommercial-Share Alike | en_US |
| dc.rights.uri | http://creativecommons.org/licenses/by-nc-sa/4.0/ | en_US |
| dc.source | arxiv | en_US |
| dc.title | Online Optimal Landing Control of the MIT Mini Cheetah | en_US |
| dc.type | Article | en_US |
| dc.identifier.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. | en_US |
| dc.contributor.department | Massachusetts Institute of Technology. Department of Mechanical Engineering | |
| dc.relation.journal | 2022 International Conference on Robotics and Automation (ICRA) | en_US |
| dc.eprint.version | Author's final manuscript | en_US |
| dc.type.uri | http://purl.org/eprint/type/ConferencePaper | en_US |
| eprint.status | http://purl.org/eprint/status/NonPeerReviewed | en_US |
| dc.date.updated | 2024-02-29T19:51:38Z | |
| dspace.orderedauthors | Jeon, SH; Kim, S; Kim, D | en_US |
| dspace.date.submission | 2024-02-29T19:51:41Z | |
| mit.license | OPEN_ACCESS_POLICY | |
| mit.metadata.status | Authority Work and Publication Information Needed | en_US |
