Humanoid Landing DDP-based Parachute Landing Optimization for a Humanoid Nov 4, 2020 robotics control Related Humanoid Double-Support Throw Humanoid Rollover Humanoid Forecast Sphere Joint Mechanism Publications DDP-based Parachute Landing Optimization for a Humanoid Previously, researchers have designed a parachute landing fall (PLF) motion heuristically by considering only one side of a humanoid. However, such a model cannot be reliably applied to a full humanoid without considering actual contact environment in trajectory optimization. We consider parachute landing based on a full biped robot with a rigid contact model, utilizing the differential dynamic programming (DDP) method. Dongdong Liu, Yang Liu, Yifan Xing, Shramana Ghosh, Vikram Kapila PDF Cite Project Video
