Humanoid Robot Running Through Random Stepping Stones and Jumping Over Obstacles: Step Adaptation Using Spring-Mass Trajectories

Description

This study proposes a step adaptation framework for running through spring-mass trajectories and deadbeat control gain libraries. It includes four main parts: (1) Automatic spring-mass trajectory library generation; (2) Deadbeat control gain library generation through an actively controlled template model that resembles the whole-body dynamics well; (3) Trajectory selection policy development for step adaptation; (4) Mapping spring-mass trajectories to a humanoid model through a whole-body contr

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