Online Optimal Landing Control of the MIT Mini Cheetah

Se Hwan Jeon; Sangbae Kim; Donghyun Kim

ICRA 2022poster40 citations

Online Optimal Landing Control of the MIT Mini Cheetah

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.

BibTeX

@inproceedings{icra2022_onlineoptimallan,
  title = {Online Optimal Landing Control of the MIT Mini Cheetah},
  author = {Se Hwan Jeon and Sangbae Kim and Donghyun Kim},
  booktitle = {ICRA 2022},
  year = {2022}
}