Precise Jump Planning using Centroidal Dynamics based Bilevel Optimization
Ivo Vatavuk Zdenko Kovačić Ivo Vatavuk Zdenko Kovačić
This paper deals with a problem of precise jumping for legged robots: what are the control inputs required to perform a jump that results in a desired landing point? We propose a novel precise jump planning method, formulated as a bilevel optimization problem. The presented formulation exploits certain insights into the jump dynamics, leading to a low-dimensional optimization problem, and allowing...