Motion Planning and Control of Wheel-legged Vehicle Compound Jumping

This paper carries out related research work about the jumping motion control of the wheel-legged vehicle. Firstly, based on the Lagrangian method, the single-leg flying-phase and landing-phase dynamics models of the wheel-legged vehicle are established, and a basic wheel-legged compound jumping motion is proposed. The jumping process is divided into the take-off stage, the flying stage and the landing stage, the trajectory planning of the center of mass in each stage is completed. Secondly, a jump control strategy with attitude and joint control as the core is designed, and the attitude control module converts the center of mass attitude adjustment problem into joint trajectory tracking problem, the joint control adopts the inverse dynamics feedback control method. Finally, the working condition indicators are selected, and the wheel-legged vehicle jumping simulation work is completed based on Simulink, which verifies the rationality of jumping trajectory planning and the effectiveness of jumping motion control strategy.