Reactive Landing Controller for Quadruped Robots

Understand

Quadruped robots are machines intended for challenging and harsh environments.

• Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem.
• It is further made more difficult when high horizontal velocities are involved.
• In this work, we propose an optimization-based reactive Landing Controller that uses only proprioceptive measures for torque-controlled quadruped robots that free-fall on a flat horizontal ground, knowing neither the distance to the landing surface nor the flight time.