2023
Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors
ICRA 2023poster
Achieving stable hopping has been a hallmark challenge in the field of dynamic legged locomotion. Controlled hopping is notably difficult due to extended periods of under-actuation combined with very short ground phases wherein ground interactions must be modulated to regulate global state. In this…