Robust Quadrupedal Jumping with Impact-Aware Landing
Exploiting Parallel Elasticity
J. Ding (TU Delft - Learning & Autonomous Control)
Vassil Atanassov (University of Oxford)
Edoardo Panichi (Student TU Delft)
J. Kober (TU Delft - Learning & Autonomous Control)
C. Della Santina (Deutsches Zentrum für Luft- und Raumfahrt (DLR), TU Delft - Learning & Autonomous Control)
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Abstract
Introducing parallel elasticity in the hardware design endows quadrupedal robots with the ability to perform explosive and efficient motions. However, for this kind of articulated soft quadruped, realizing dynamic jumping with robustness against system uncertainties remains a challenging problem. To achieve this, we propose an impact-aware jumping planning and control approach. Specifically, an offline kino-dynamic-type trajectory optimizer is first formulated to achieve compliant 3D jumping motions, using a novel actuated spring-loaded inverted pendulum (SLIP) model. Then, an optimization-based online landing strategy, including pre-impact leg motion modulation and post-impact landing recovery, is designed. The actuated SLIP model, with the capability of explicitly characterizing parallel elasticity, captures the jumping and landing dynamics, making the problem of motion generation/regulation more tractable. Finally, a hybrid torque control consisting of a feedback tracking loop and a feedforward compensation loop is employed for motion control. Experiments demonstrate the ability to accomplish robust 3D jumping motions with stable landing and recovery. Besides, our approach can be applied to quadrupedal robots with or without additional parallel compliance.