Control of a quadruped standing jump over irregular terrain obstacles

In this paper the control of a quadruped standing jump over irregular terrain obstacles is investigated. Control strategies are developed for thetakeoff, flight and thelanding phases of a standing jump. Using a simplified planar model and the concept ofeffective linear momentum, simple feedforward leg force profiles are planned to remove the linear and angular momentum of the body during landing. Super real-time simulation, which involves predicting landing conditions based on faster than real-time simulation using the simplified model, is used to select leg touchdown angles for landing. Using the principle of symmetry, the leg forces during takeoff are derived from those predicted for landing. Leg motions are planned to maximize clearance during flight and stability during landing. Using these strategies, the quadruped is able to clear a variety of obstacles including isolated walls, terrain steps, and ditches. Simulation results are compared with experimental data of an animal jump from the literature.