| Title | Online Optimal Landing Control of the MIT Mini Cheetah |
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| Publication Type | Conference Paper |
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| Year of Publication | 2022 |
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| Authors | SH Jeon, S Kim, D Kim |
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| Journal | 2022 International Conference on Robotics and Automation (ICRA), 178-184 |
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| 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. |
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| URL | https://ieeexplore.ieee.org/abstract/document/9811796 |
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