# Real-time Optimal Landing Control of the MIT Mini Cheetah

arXiv: https://arxiv.org/abs/2110.02799 · HTML: https://mlsanity.com/paper/2110.02799/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 6 Oct 2021.

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

- [Advanced Skills by Learning Locomotion and Local Navigation End-to-End](https://mlsanity.com/paper/2209.12827/) (2022)

## Abstract (arXiv)

Quadrupedal landing is a complex process involving large impacts, elaborate contact transitions, and is a crucial recovery behavior observed in many biological animals. This work presents a real-time, optimal landing controller that is free of pre-specified contact schedules. The controller determines optimal touchdown postures and reaction force profiles and is able to recover from a variety of falling configurations. The quadrupedal platform used, the MIT Mini Cheetah, recovered safely from drops of up to 8 m in simulation, as well as from a range of orientations and planar velocities. The controller is also tested on hardware, successfully recovering from drops of up to 2 m.