Online Optimal Landing Control of the MIT Mini Cheetah
Se Hwan Jeon, Sangbae Kim, Donghyun Kim
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.
Topics & Concepts
TouchdownQuadrupedalismController (irrigation)Process (computing)Control theory (sociology)Computer scienceWork (physics)SimulationSoft landingRange (aeronautics)Control (management)EngineeringAerospace engineeringMechanical engineeringGeologyArtificial intelligenceArchaeologyEconomicsOperating systemBiologyMacroeconomicsAgronomyPaleontologyHistoryRobotic Locomotion and ControlBiomimetic flight and propulsion mechanismsSports Dynamics and Biomechanics