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This paper introduces a novel dynamical model (W-JBD) for wheeled-bipedal robots to achieve accurate jump height control, addressing the challenges of underactuation and impact dynamics. To smooth the torque profile and reduce energy consumption, they propose a Bayesian optimization for torque planning (BOTP) method that optimizes torque without requiring an accurate dynamic model. Simulation results demonstrate that the BOTP method reduces height error by 82.3% and energy cost by 26.9% while maintaining a continuous torque curve, enabling practical height control for real-world robots.
Wheeled-bipedal robots can now jump with significantly less energy and more precision thanks to a new torque planning method that doesn't require a perfect model.
This paper mainly studies the accurate height jumping control of wheeled-bipedal robots based on torque planning and energy consumption optimization. Due to the characteristics of underactuated, nonlinear estimation, and instantaneous impact in the jumping process, accurate control of the wheeled-bipedal robot’s jumping height is complicated. In reality, robots often jump at excessive height to ensure safety, causing additional motor loss, greater ground reaction force and more energy consumption. To solve this problem, a novel wheeled-bipedal jumping dynamical model(W-JBD) is proposed to achieve accurate height control. It performs well but not suitable for the real robot because the torque has a striking step. Therefore, the Bayesian optimization for torque planning method(BOTP) is proposed, which can obtain the optimal torque planning without accurate dynamic model and within few iterations. BOTP method can reduce 82.3% height error, 26.9% energy cost with continuous torque curve. This result is validated in the Webots simulation platform. Based on the torque curve obtained in the W-JBD model to narrow the searching space, BOTP can quickly converge (40 times on average). Cooperating W-JBD model and BOTP method, it is possible to achieve the height control of real robots with reasonable times of experiments.