This paper proposes a method to evaluate the capability of aggressive legged robot landing under significant touchdown linear and angular velocities upon impact. Our approach builds upon the Planar Inverted Pendulum with Flywheel (PIPF) model and introduces a landing framework for the first stance step on a non-dimensional basis. We develop a nonlinear framework with iterative constrained trajectory optimization to stabilize the first stance step prior to N-step Capturability analysis. Performance maps across many different initial conditions reveal approximately linear boundaries as well as the effect of inertia, body incidence angle and leg attacking angle on the boundary shape. Our method also yields the engineering insight that body inertia affects the performance map the most, hence its optimization can be prioritized when the target is to improve robot landing efficacy.

翻译：本文提出了一种评估足式机器人在显著触地线速度和角速度冲击下进行攻击性着陆能力的方法。我们的方法基于含有飞轮的平面倒立摆（PIPF）模型，并引入了一个基于无量纲参数的首个支撑步着陆框架。我们开发了一个结合迭代约束轨迹优化的非线性框架，以在N步可捕获性分析之前稳定首个支撑步。覆盖多种初始条件的性能图谱揭示了近似线性的边界，以及惯性、机体迎角和腿部攻击角对边界形状的影响。我们的方法还提供了工程洞见：机体惯性对性能图谱的影响最大，因此在以提升机器人着陆效率为目标时可优先优化该参数。