Generating dynamic jumping motions on legged robots remains a challenging control problem as the full flight phase and large landing impact are expected. Compared to quadrupedal robots or other multi-legged robots, bipedal robots place higher requirements for the control strategy given a much smaller footprint. To solve this problem, a novel heuristic landing planner is proposed in this paper. With the momentum feedback during the flight phase, landing locations can be updated to minimize the influence of uncertainties from tracking errors or external disturbances when landing. To the best of our knowledge, this is the first approach to take advantage of the flight phase to reduce the impact of the jump landing which is implemented in the actual robot. By integrating it with a modified kino-dynamics motion planner with centroidal momentum and a low-level controller which explores the whole-body dynamics to hierarchically handle multiple tasks, a complete and versatile jumping control framework is designed in this paper. Extensive results of simulation and hardware jumping experiments on a miniature bipedal robot with proprioceptive actuation are provided to demonstrate that the proposed framework is able to achieve human-like efficient and robust jumping tasks, including directional jump, twisting jump, step jump, and somersaults.
Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control
Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）；Amirkabir University of Technology（阿米尔卡比尔理工大学）；Tandon School of Engineering, New York University（纽约大学坦登工程学院）
Design of a 3-DOF Hopping Robot with an Optimized Gearbox: An Intermediate Platform Toward Bipedal Robots
Humanoid Robot Research Center, School of Mechanical, Aerospace & Systems Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST)（人形机器人研究中心、机械航空航天与系统工程学院、机械工程系、韩国科学技术院）
Highly dynamic locomotion control of biped robot enhanced by swing arms
Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences（中国科学院香港创新研究院）；University of Chinese Academy of Sciences（中国科学院大学）
Explosive Jumping with Rigid and Articulated Soft Quadrupeds via Example Guided Reinforcement Learning
Cognitive Robotics, Delft University of Technology（德鲁夫特理工大学认知机器人实验室）；Department of Computer Science, University of Manchester（曼彻斯特大学计算机科学系）；Department of Industrial Engineering, University of Trento（特伦托大学工业工程系）；Institute of Robotics and Mechatronics, German Aerospace Center (DLR)（德国航空航天中心机器人与机电一体化研究所）
Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing
Mechanical Engineering Department at the FAMU-FSU College of Engineering（佛罗里达州立大学工程学院机械工程系）；FAMU-FSU College of Engineering（佛罗里达大学-萨拉姆斯学院工程学院）；Toyota Research Institute（丰田研究院）；Ford Motor Company（福特汽车公司）
