Jumping Performance Optimization of Bipedal Wheeled Robots

The combination of human legs and wheeled robots is one of the most efficient and simple multi-terrain adaptive mobile structures, with the advantages of moving fast on flat surfaces, going off-road on rough roads, and having its own shock absorption, which has great prospects for development. Bipedal wheeled robots need to face stairs, steps, hills, streets and other environments, which requires excellent jumping and obstacle avoidance capabilities. However, no research has been conducted on the effect of design parameters on the motion of bipedal wheeled robots and the scope of the optimization problem of jumping posture, and it requires a lot of debugging to find the optimal solution in reality. In order to study the characteristics of bipedal wheeled robots more completely and to facilitate engineering applications, this paper modeled and designed a bipedal wheeled robot based on synchronous belt drive, and derived the dynamics of its jumping posture. Then we found the relationship between jumping height and leg length ratio and the angular position of hip and knee joints at each stage, and found the optimal solution using PSO algorithm. A co-simulation using ADAMS and MATLAB/Simulink was carried out to verify the optimal solution of the algorithm. Finally, the established theory is found to be instructive for controlling robot jumping.