2017
Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression
Alexander H. Chang, Christian M. Hubicki, Jeff J. Aguilar, Daniel I. Goldman, Aaron D. Ames, Patricio A. Vela
ICRA 2017poster
The varied and complex dynamics of deformable terrain are significant impediments toward real-world viability of locomotive robotics, particularly for legged machines. We explore vertical jumping on granular media (GM) as a model task for legged locomotion on uncharacterized deformable terrain. By i…