A three-stage optimization framework using a reaction mass pendulum, QP mapping, and whole-body dynamics generates 1.0 m forward jumps and a 0.5 m high jump for a humanoid robot.
Vertical jump of a humanoid robot with cop-guided angular momentum control and impact absorption,
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A 3-Step Optimization Framework with Hybrid Models for a Humanoid Robot's Jump Motion
A three-stage optimization framework using a reaction mass pendulum, QP mapping, and whole-body dynamics generates 1.0 m forward jumps and a 0.5 m high jump for a humanoid robot.