Jump Control Based on Nonlinear Wheel-Spring-Loaded Inverted Pendulum Model: Validation of a Wheeled-Bipedal Robot with Single-Degree-of-Freedom Legs
Jumping is a fundamental capability for wheeled-bipedal robots (WBRs) navigating unstructured terrains, with jump height and stability serving as indicators of the robot’s environmental adaptability. However, existing trajectory planning methods demand high output capacity from the joints and fail t...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-04-01
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| Series: | Biomimetics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2313-7673/10/4/246 |
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