An Optimization Approach to Controlling Jump Maneuvers for a Quadrupedal Robot
نویسندگان
چکیده
Legged locomotion enables humans and animals to traverse difficult terrain with great agility. Their skills to overcome large obstacles are impressive and superior to those of stateof-the-art legged robots. Our motivation is therefore to develop novel control methods for quadrupedal robots to increase their performance in this regard. More precisely, we seek for motor skills for the quadruped robot StarlETH [1] to enable various jump maneuvers. Our aim is to develop a generic framework to create various jumps like a vertical, long or a spin jump.
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