IPAB Workshop - 27/05/2021

Title: Motion planning and control of legged locomotion

Abstract: In this talk, I will introduce the progress of dynamic locomotion which we achieved recently. I will talk about different control frameworks composed of different planners and controllers, including linear MPC, nonlinear MPC and whole-body controllers. The research goal is to give legged robots high maneuverability with stability. I will show you the simulation and experimental results of robot walking, running and jumping and give my opinions on those methods.