Landing attitude analysis and control of bouncing robots

WU Zhe; ZHOU Zupeng; YANG Quan

doi:10.16578/j.issn.1004.2539.2025.07.017

Abstract：[Objective]Aiming at the problem that the bouncing robot is easily toppled and unstable when landing,a three-momentum wheel bouncing robot with orthogonal arrangement was designed.[Methods]Firstly,the static stability of the robot was analysed using the static stability boundary method,which proved the stability of the robot standing horizontally at rest.Then,a new landing stability criterion was proposed based on the attitude angle of the bouncing robot,as well as the kinetic and potential energy relation by combining D'Alembert's principle and energy conservation,and the stability of the bouncing robot in the landing phase was analysed based on this method.Furthermore,for the characteristics of large disturbances and system coupling in the bouncing and landing phases of the robot,a robot attitude angle controller based on an integral sliding mode control algorithm and a feed-forward controller with system decoupling were designed to control the robot attitude during the bouncing and landing phases.Using Adams-Simulink cosimulation,the correctness of the dynamic stability criterion was verified,and by comparing the integral sliding mode observer(ISMO)and the proportional-integral-derivative(PID)controller,the former's perturbation robustness significantly overcome the perturbations generated by the robot's jumping and landing collisions.Finally,a prototype was built to verify the feasibility of using the momentum wheel to change the attitude of the bouncing robot.[Results]The designed attitude control mechanism based on three orthogonal momentum wheels combined with the integral sliding mode control algorithm can effectively control the attitude of the robot after bouncing,and the proposed robot landing stability criterion can effectively predict the stability of the robot through the current robot state.