# Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping

arXiv: https://arxiv.org/abs/2111.13648 · HTML: https://mlsanity.com/paper/2111.13648/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 Nov 2021.

## Built on by (most cited first, 5 of 5)

- [Barkour: Benchmarking Animal-level Agility with Quadruped Robots](https://mlsanity.com/paper/2305.14654/) (2023)
- [Continuous Versatile Jumping Using Learned Action Residuals](https://mlsanity.com/paper/2304.08663/) (2023)
- [Guided Reinforcement Learning for Omnidirectional 3D Jumping in Quadruped Robots](https://mlsanity.com/paper/2507.16481/) (2025)
- [Efficient Reinforcement Learning for Jumping Monopods](https://mlsanity.com/paper/2309.07038/) (2023)
- [Integrating Trajectory Optimization and Reinforcement Learning for Quadrupedal Jumping with Terrain-Adaptive Landing](https://mlsanity.com/paper/2509.12776/) (2025)

## Abstract (arXiv)

Dynamic jumping with legged robots poses a challenging problem in planning and control. Formulating the jump optimization to allow fast online execution is difficult; efficiently using this capability to generate long-horizon motion plans further complicates the problem. In this work, we present a hierarchical planning framework to address this problem. We first formulate a real-time tractable trajectory optimization for performing omnidirectional jumping. We then embed the results of this optimization into a low dimensional jump feasibility classifier. This classifier is leveraged to produce geometric motion plans that select dynamically feasible jumps while mitigating the effects of the process noise. We deploy our framework on the Mini Cheetah Vision quadruped, demonstrating the robot's ability to generate and execute reliable, goal-oriented plans that involve forward, lateral, and rotational jumps onto surfaces as tall as the robot's nominal hip height. The ability to plan through omnidirectional jumping greatly expands the robot's mobility relative to planners that restrict jumping to the sagittal or frontal planes.