Robust Jumping of A Bipedal Wheel Legged Robot in Gusty Weather

Currently, bipedal wheeled-leg robots are considered to have significant potential for various applications. Current research lacks an in-depth study of the performance of bipedal wheeled-leg robots in high-wind conditions. However, researching robots in such conditions is crucial for their application in outdoor environments, such as disaster rescue. Therefore, enhancing the balance performance of these robots to improve their mobility in complex environments is crucial. This paper explores the jumping performance of bipedal wheeled-leg robots in strong wind conditions and proposes a method for optimizing the robot's jumping trajectory using a genetic algorithm. This approach enables the robot to successfully perform jumps and maximize the jump distance even in windy environments. To make the simulation environment more realistic, a detailed simulation of strong wind conditions was conducted, where a function was established to model the variation in wind force on the robot's surface under different tilt angles during a jump. Additionally, the maximum torque limitations of the motors and the weight of the electromechanical components were taken into account. Ultimately, successful jumps were achieved in windy conditions, with a great improvement in jump distance compared to before optimization.