Dynamic control of a quadruped standing jump

Control strategies are developed for a quadruped standing jump over irregular terrain obstacles. Simple open-loop leg forces are planned to remove the large linear and angular momentum of the body during landing. Super real-time simulation, which involves predicting landing conditions based on simulation using a simplified model, is used to select leg touchdown angles. Using the principle of symmetry, the leg forces during takeoff are derived from those predicted for landing. Using these strategies, the quadruped is able to clear a variety of obstacles, including isolated walls, terrain steps, and ditches