2020
DOI: 10.1109/iros45743.2020.9341467
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Abstract: In this paper, we present a sequential motion planning and control method for generating somersaults on bipedal robots. The somersault (backflip or frontflip) is considered as a coupling between an axile hopping motion and a rotational motion about the center of mass of the robot; these are encoded by a hopping Spring-loaded Inverted Pendulum (SLIP) model and the rotation of a Flywheel, respectively. We thus present the Flywheel SLIP model for generating the desired motion on the ground phase. In the flight ph…

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