Information about the jump task (Solo 8 quadruped robot 8dof)

General
1

Hi All,

I would like to have some information about the task of jumping up to the maximum height of 65cm:

  • How much does the CoM drop with respect to the starting configuration during the loading phase of the jump?
  • How long does the ascent phase last until the detachment of the robot from the ground?

Thank you.
Lorenzo

2

Hi Lorenzo,

I think you mean this jump:

The natural standing height in this video is 24 cm and the robot goes down to 15 cm. The time the robot moves from minimum height to its fully stretched case is hard to exactly estimate, but it is around 0.1s. This is not something we set in our planner and depending on the jump height the planner decides what kind of trajectory to choose…

I hope this was useful.
Best,
Majid

1 Like
3

Hi Majid,

Perfect!
Thank you for the information,

Lorenzo