Trajectory Planning for Jumping and Soft Landing With a New Wheeled Bipedal Robot

摘要

The balance control of the wheeled bipedal robots has been relatively mature, but the jump control of the wheeled bipedal robots is not perfect at present. Aiming at problems such as significant landing impact and less than expected jump height of the wheeled bipedal robots, a method of jump trajectory planning with specific soft landing ability is proposed. The dynamic model of the robot jumping and the basis for distinguishing the land and fly phases are established. The planning of the wheel and foot trajectories and the main body trajectories during the robot jumping is completed, and the tracking of the robot jumping trajectories is completed using virtual model control and virtual force compensation. Through simulations and prototype experiments, the robot can perform various jumping tasks with high precision jump heights while still being able to land without much impact. The stability and effectiveness of the proposed method are demonstrated.