Journal of Bionic Engineering (2024) 21:101–111https://doi.org/10.1007/s42235-023-00442-x

High Dynamic Bounding and Jumping Motion of Quadruped Robot Based on Stable Optimization Control

Sai Gu1  · Fei Meng1,2  · Botao Liu1  · Junyao Gao1,2 · Qiang Huang1,2

1. School of Mechatronical Engineering, Beijing Institute of Technology, 100081 Beijing, China 

2. Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081, China

AbstractAiming at the environment such as ravines and obstacles that may be encountered in the actual movement, this paper proposes a method for optimizing the bounding and jumping motion based on the ground touching force trajectory and the air motion trajectory of the quadruped robot. The method of optimizing the ground reaction force according to the speed of the demand and the height of the jump, and adjusting the stance and swing time according to the relationship of dynamics and momentum conservation. At the same time, under the constraints of dynamics and energy consumption of the robot system, considering the jumping distance and height, a method for optimizing the air trajectory of bounding and jumping is proposed. State switching and landing stability control are also added. Finally, the experimental results show that the quadruped robot has strong bounding and jumping ability, and has achieved stable bounding movement and forward jump movement of 0.8 m.

Keywords Quadruped robot · High dynamic motion control · Periodic limit cycle · Trajectory optimization