218 citations · 396 across the 14 of their papers we have counts for
5 papers · 1 filter
Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping
Matthew Chignoli, Savva Morozov, Sangbae Kim
Dynamic jumping with legged robots poses a challenging problem in planning and control. Formulating the jump optimization to allow fast online execution is difficult; efficiently u…
Learning to Jump from Pixels
Gabriel B. Margolis, Tao Chen, Kartik Paigwar +4
Today's robotic quadruped systems can robustly walk over a diverse range of rough but continuous terrains, where the terrain elevation varies gradually. Locomotion on discontinuous…
Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot
Matthew Chignoli, Sangbae Kim
This work presents a two part framework for online planning and execution of dynamic aerial motions on a quadruped robot. Motions are planned via a centroidal momentum-based nonlin…
Real-time Optimal Landing Control of the MIT Mini Cheetah
Se Hwan Jeon, Sangbae Kim, Donghyun Kim
Quadrupedal landing is a complex process involving large impacts, elaborate contact transitions, and is a crucial recovery behavior observed in many biological animals. This work p…
The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors
Matthew Chignoli, Donghyun Kim, Elijah Stanger-Jones +1
Demonstrating acrobatic behavior of a humanoid robot such as flips and spinning jumps requires systematic approaches across hardware design, motion planning, and control. In this p…