This robot, developed by Boston Dynamics, uses its whole body (legs, arms, torso) to perform a sequence of dynamic maneuvers that to do a gymnastic routine. The maneuvers uses new techniques than it's previous models. First, an optimization algorithm transforms high-level descriptions of each maneuver into dynamically-feasible reference motions. Then the robot tracks the motions using a model predictive controller that smoothly blends from one maneuver to the next. This enabled the robot perform
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