A Wheeled Bipedal Robot Capable of Standing Jumps

The jumping ability significantly improves the robot's movement range and obstacle crossing ability. The advantage of a standing jump is that it is unaffected by terrain conditions and does not require a run-up or runway to gain initial speed. However, compared to run-up jumps, controlling the standing jumps of wheeled bipedal robots is more complex. Robots need to complete various state transitions in a short period of time for standing jumps, including balancing, forward leaning, takeoff, flight, landing, and rebalancing. The robot must simultaneously control its horizontal and vertical velocities during takeoff, adjust its body posture during flight, and quickly regain balance after landing. Due to these difficulties, many wheeled bipedal robots have achieved vertical jumps, but standing jumps remain a significant challenge. This paper studies the dynamic model of the sagittal plane of the wheeled biped robot in the landing phase and the flight phase, plans the trajectory of the center of mass when taking off, and adjusts the posture of the robot during the flight phase. During the landing process, this paper uses impedance control to reduce impact. A wheeled bipedal robot was designed and built, and the algorithm was verified through simulation and experiments, successfully achieving the standing jump of the wheeled bipedal robot.