Trajectory tracking and jumping control of quadruped via phase-aware iLQR controller
Jumping is a critical capability for quadruped robots, especially for navigating obstacles and gaps in complex environments. For successful jump, accurate trajectory tracking and robust feedback mechanism are essential, as cumulative deviations from the desired jumping trajectory can lead to instabi...
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| Autors principals: | , , , , |
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| Format: | Artigo |
| Idioma: | Inglês |
| Publicat: |
KeAi Communications Co., Ltd.
2026-03-01
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| Col·lecció: | Biomimetic Intelligence and Robotics |
| Matèries: | |
| Accés en línia: | http://www.sciencedirect.com/science/article/pii/S2667379726000124 |
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