Introducing parallel elasticity in the hardware design endows quadrupedal robots with the ability to perform explosive and efficient motions. However, for this kind of articulated soft quadruped, realizing dynamic jumping with robustness against system uncertainties remains a challenging problem. To achieve this, we propose an impact-aware jumping planning and control approach. Specifically, an offline kino-dynamic-type trajectory optimizer is first formulated to achieve compliant 3-D jumping motions, using a novel actuated spring-loaded inverted pendulum (SLIP) model. Then, an optimization-based online landing strategy, including preimpact leg motion modulation and postimpact landing recovery, is designed. The actuated SLIP model, with the capability of explicitly characterizing parallel elasticity, captures the jumping and landing dynamics, making the problem of motion generation/regulation more tractable. Finally, a hybrid torque control consisting of a feedback tracking loop and a feedforward compensation loop is employed for motion control. Experiments demonstrate the ability to accomplish robust 3-D jumping motions with stable landing and recovery. Besides, our approach can be applied to quadrupedal robots with or without additional parallel compliance.

中文翻译：

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具有冲击感知着陆功能的稳健四足跳跃：利用平行弹性


在硬件设计中引入并行弹性，赋予四足机器人执行爆发性高效运动的能力。然而，对于这种铰接式软四足动物来说，实现对系统不确定性具有鲁棒性的动态跳跃仍然是一个具有挑战性的问题。为了实现这一目标，我们提出了一种具有影响意识的跳跃规划和控制方法。具体来说，首先使用新颖的驱动弹簧加载倒立摆 (SLIP) 模型制定离线运动动力学型轨迹优化器，以实现顺应的 3D 跳跃运动。然后，设计了一种基于优化的在线着陆策略，包括撞击前腿部运动调制和撞击后着陆恢复。驱动的 SLIP 模型能够明确表征平行弹性，捕获跳跃和着陆动力学，使运动生成/调节问题更容易处理。最后，采用由反馈跟踪环和前馈补偿环组成的混合扭矩控制进行运动控制。实验证明能够完成稳健的 3D 跳跃运动以及稳定的着陆和恢复。此外，我们的方法可以应用于有或没有附加并行顺从性的四足机器人。