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To achieve highly dynamic jumps of legged robots, it is essential to controlthe rotational dynamics of the robot. In this paper, we aim to improve thejumping performance by proposing a unified model for planning highly dynamicjumps that can approximately model the centroidal inertia. This model abstractsthe robot as a single rigid body for the base and point masses for the legs.The model is called the Lump Leg Single Rigid Body Model (LL-SRBM) and can beused to plan motions for both bipedal and quadrupedal robots. By taking theeffects of leg dynamics into account, LL-SRBM provides a computationallyefficient way for the motion planner to change the centroidal inertia of therobot with various leg configurations. Concurrently, we propose a novel contactdetection method by using the norm of the average spatial velocity. After thecontact is detected, the controller is switched to force control to achieve asoft landing. Twisting jump and forward jump experiments on the bipedal robotSLIDER and quadrupedal robot ANYmal demonstrate the improved jump performanceby actively changing the centroidal inertia. These experiments also show thegeneralization and the robustness of the integrated planning and controlframework.

A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots