arXiv (OAI Expanded)
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Learning to Exploit Passive Dynamics for Energy-Efficient Target Hopping of a Spring-Legged Quadcopter
Combining aerial thrust with spring-loaded hopping makes monopedal quadcopters promising for locomotion over complex terrain, but heuristic proportional-integral-derivative (PID) tuning limits coordination between active thrust and passive contact dynamics. We present a direct estimated-state-to-mot
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