# Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach

arXiv: https://arxiv.org/abs/2103.07183 · HTML: https://mlsanity.com/paper/2103.07183/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 12 Mar 2021.

## Built on by (most cited first, 1 of 1)

- [First do not fall: learning to exploit a wall with a damaged humanoid robot](https://mlsanity.com/paper/2203.00316/) (2022)

## Abstract (arXiv)

The kinematic features of a centaur-type humanoid platform, combined with a powerful actuation, enable the experimentation of a variety of agile and dynamic motions. However, the higher number of degrees-of-freedom and the increased weight of the system, compared to the bipedal and quadrupedal counterparts, pose significant research challenges in terms of computational load and real implementation. To this end, this work presents a control architecture to perform agile actions, conceived for torque-controlled platforms, which decouples for computational purposes offline optimal control planning of lower-body primitives, based on a template kinematic model, and online control of the upper-body motion to maintain balance. Three stabilizing strategies are presented, whose performance is compared in two types of simulated jumps, while experimental validation is performed on a half-squat jump using the CENTAURO robot.