Journal of Bionic Engineering (2023) 20:2088–2107 https://doi.org/10.1007/s42235-023-00360-y

Research on Bionic Jumping and Soft Landing of Single Leg System in Quadruped Robot

Jinzhu Zhang1 · Miao Li1 · Jiandong Cao1 · Yuhan Dou1 · Xiaoyan Xiong1

Jinzhu Zhang zhangjinzhu@tyut.edu.cn

1 College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan 030024, China

Abstract：This paper proposed a novel multi-motion wheel-leg-separated quadruped robot that can adapt to both the structured and unstructured grounds. The models of the positive/inverse position, velocity, acceleration, and workspace of the single leg mechanism in the quadruped robot were established. A single leg complex dynamic model of the quadruped robot is derived, considering the mass and inertial force of all the components in the mechanical leg. Combined with the human jumping law in situ, the jumping trajectory of the single leg was planned. To reduce landing impact, a soft landing strategy based on motion planning was proposed by simulating human knee bending and buffering action. The change law of the kinetic energy and momentum of all the links in the single leg mechanism during the jump process was studied, and the influencing factors of jump height were analyzed to realize the height control of the jump. Single leg jumping dynamics model was established, and a dynamic control strategy for trajectory tracking with foot force compensation was proposed. In Adams and MATLAB/Simulink software, the jump simulation of single leg mechanism was carried out. The prototype of quadruped robot was developed, and the jumping experiment of the single leg mechanism was tested. The robot's single leg bionic jumping and soft landing control are realized.

Keywords ：Wheel-leg-separated quadruped robot · Bionic jumping · Dynamic modeling · Soft landing