A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots

Understand

To achieve highly dynamic jumps of legged robots, it is essential to control the rotational dynamics of the robot.

• In this paper, we aim to improve the jumping performance by proposing a unified model for planning highly dynamic jumps that can approximately model the centroidal inertia.
• This model abstracts the robot as a single rigid body for the base and point masses for the legs.
• The model is called the Lump Leg Single Rigid Body Model (LL-SRBM) and can be used to plan motions for both bipedal and quadrupedal robots.