Jump Control Based on Nonlinear Wheel-Spring-Loaded Inverted Pendulum Model: Validation of a Wheeled-Bipedal Robot with Single-Degree-of-Freedom Legs.

ABSTRACT: Jumping is a fundamental capability for wheeled-bipedal robots (WBRs) navigating unstructured terrains, with jump height and stability serving as indicators of the robot's environmental adaptability. However, existing trajectory planning methods demand high output capacity from the joints and fail to balance computational load with trajectory tracking performance. This limitation hinders most robots from experimental validation. To address these challenges, this study presents an optimized virtual model, trajectory planning strategy, and control method. These solutions enhance both the height and stability of jumps while ensuring real-time execution on physical robots. Firstly, inspired by the human jumping mechanism, a Nonlinear Wheel-Spring-Loaded Inverted Pendulum (NW-SLIP) model was or

SUBMITTER: Gao J 

PROVIDER: S-EPMC12024883 | biostudies-literature | 2025 Apr

REPOSITORIES: biostudies-literature