Quadrupedal landing is a complex process involving large impacts, elaborate contact transitions, and is a crucial recovery behavior observed in many biological animals. This work presents a real-time, optimal landing controller that is free of pre-specified contact schedules. The controller determines optimal touchdown postures and reaction force profiles and is able to recover from a variety of falling configurations. The quadrupedal platform used, the MIT Mini Cheetah, recovered safely from drops of up to 8 m in simulation, as well as from a range of orientations and planar velocities. The controller is also tested on hardware, successfully recovering from drops of up to 2 m.

翻译：四重着陆是一个复杂的过程,涉及巨大的撞击,精心设计的接触过渡,也是许多生物动物中观察到的重要恢复行为。 这项工作是一个实时的最佳着陆控制器,没有事先确定的接触时间表。 控制器确定最佳的触地得分态势和反应力配置,能够从各种下降配置中恢复过来。 使用的四重平台MIT Mini Cheetah在模拟中从高达8米的降水中安全恢复,以及从一系列方向和规划速度中安全恢复过来。 控制器还接受硬件测试,成功地从高达2米的降水中恢复过来。