Corpus ID: 238408386

Real-time Optimal Landing Control of the MIT Mini Cheetah

  title={Real-time Optimal Landing Control of the MIT Mini Cheetah},
  author={Se Hwan Jeon and Sangbae Kim and Donghyun Kim},
  • Se Hwan Jeon, Sangbae Kim, Donghyun Kim
  • Published 6 October 2021
  • Computer Science
  • ArXiv
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… Expand

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