1
Return

Locomotion on surfaces where friction cone is an active constraint and not geometric

delete2026-06-12
delete0
PRE
AI
E
Eric Sihite *
S
Shreyansh Pitroda
A
Alireza Ramezani
A
Aaron D. Ames
M
Morteza Gharib
DOI：10.1016/j.mechatronics.2026.103560delete
deleteOriginal
deleteOriginal request for help
deleteShare
deleteSave
Abstract

Abstract

En 中文
• Trajectory optimization for parkour wall jump maneuvers on a thruster-assisted legged robot. • Utilize a spring-loaded inverted pendulum reduced order model and model predictive control for trajectory generation. • Successfully tracked the generated wall jump trajectory in full-fidelity simulation and experiment.

Journal

Mechatronics cover
Mechatronics
IF:
3.1
Papers:
2.9K
Citations:
5.7K

Organization

N
Northeastern University
Scholars:
2.3W
Papers: 1.5W
Citations: 3.0W
C
california institute of technology
Scholars:
2.4K
Papers: 999
Citations: 0
Cited Papers

Cited Papers

Citing Papers

Citing Papers