Tools: Highly Dynamic Quadruped Locomotion Via Whole-body Impulse Control...

Posted on Feb 16

• Originally published at paperium.net

Robots that trot and leap are getting better, faster, and more sure-footed. A new control method helps a small robot plan pushes ahead of time and then use its whole body to follow those pushes, so it can handle brief flights and quick leg swings without falling. The secret is mixing a short plan of forces with a fast whole-body action that turns those plans into joint moves. This lets the robot keep balance while making bold moves, and keeps it stable when feet leave the ground for a moment. The system was tested on the little Mini-Cheetah and it hit top speed of 3. 7 m/s, on treadmills and outside, with many gaits. It works even when the ground changes or the robot stumbles a bit. This approach focuses on the pushing forces not just on chasing a body path, so it makes dynamic running with aerial phases more reliable. Imagine robots that jump over obstacles, sprint across rough ground, and recover quick from slips, all by planning ahead and acting together.

Read article comprehensive review in Paperium.net: Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and ModelPredictive Control

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Source: Dev.to