Hybrid multi-contact dynamics for wedge jumping locomotion behaviors

Legged robots naturally exhibit continuous and discrete dynamics when maneuvering over level-ground and uneven terrains. In recent years, numerous studies have focused on locomotion hybrid dynamics. However, locomotion on more challenging terrains such as split wedges in Figure 1 has rarely been explored, let alone its hybrid dynamics. In this study, we specifically focus on a two-phase hybrid automaton formulation for this highly steep wedge locomotion. This automaton incorporates both multi-contact and flight single contact phase motions. To dynamically balance and jump upwards on this wedge, an aperiodic phase space planning is used for trajectory generations. Three control strategies are employed simultaneously: internal force control, linear and angular momentum control. Finally, simulation results are shown to verify our strategy's effectiveness.