Bouncing robot, momentum wheel assembly and posture control method thereof

Abstract

The present invention discloses a momentum wheel assembly, including a wheel arm, a wheel axle rotating with the wheel arm, a momentum wheel rotating synchronously with the wheel axle, and a momentum wheel driving mechanism for driving the wheel axle to rotate. The present invention also discloses a bouncing robot, including a robot body, the robot body including a base, at least two momentum wheel assemblies as described above are evenly distributed in an annular manner on the base, and the wheel arm is fixedly connected to the base. The present invention also discloses a posture control method of a bouncing robot, which can adjust the landing posture of the bouncing robot to avoid dangerous situations such as poor landing point accuracy and easy rollover.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and specifically relates to a bouncing robot and a momentum wheel assembly and a posture control method thereof. Background Art

[0002] Research on bouncing robots has also received widespread attention and developed rapidly. Bouncing is the most important and best movement feature of bouncing robots. The Chinese patent with publication number CN110466635B discloses an electromagnetic release bouncing robot, a badminton robot and an electromagnetic release bouncing mechanism. After the existing bouncing robot takes off, the center of mass of the entire robot moves parabolically along the take-off direction. After the robot completes tasks such as catching and hitting, the posture of the robot will deviate. If the posture during landing is improper, the center of gravity of the robot will shift or tilt too much. Under the impact of landing, the robot will roll over, which is extremely detrimental to the safety and stability of the system. Summary of the invention

[0003] In view of this, an object of the present invention is to provide a bouncing robot and its momentum wheel assembly and posture control method, which can adjust the landing posture of the bouncing robot to avoid dangerous situations such as poor landing point accuracy and easy rollover.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] The present invention first proposes a momentum wheel assembly, including a wheel arm, on which is provided a wheel axle that rotates with the wheel arm, on which is provided a momentum wheel that rotates synchronously with the wheel axle, and on which is also provided a momentum wheel driving mechanism for driving the wheel axle to rotate.

[0006] Furthermore, the momentum wheel driving mechanism comprises a servo motor, and a transmission mechanism is provided between the output shaft of the servo motor and the wheel axle.

[0007] Furthermore, the transmission mechanism includes a turbine and a worm that mesh with each other, the rotating shaft of the turbine is transmission-connected to the output shaft of the servo motor, and the worm is sleeved on the wheel axle and rotates synchronously with the wheel axle.

[0008] Furthermore, the momentum wheels are respectively provided at both ends of the wheel axle.

[0009] The present invention also proposes a bouncing robot, comprising a robot body, wherein the robot body comprises a base, and at least two momentum wheel assemblies as described above are evenly distributed in a ring on the base, and the wheel arm is fixedly connected to the base.

[0010] Furthermore, two or three momentum wheel assemblies are evenly distributed in a ring on the base.

[0011] Further, the base and the execution connecting rod are used to execute the action.

[0012] The present invention also proposes a posture control method applicable to the above-mentioned bouncing robot, comprising the following steps:

[0013] 1) constructing generalized coordinates based on the center of mass of the jumping robot and the rotation angles of each joint of the jumping robot;

[0014] 2) Calculate the total kinetic energy E of the bouncing robot k and the total potential energy E p , we get the Lagrangian function: L = E k -E p ;

[0015] 3) According to the Lagrangian function, the dynamic equation of the bouncing robot is obtained:

[0016]

[0017] Among them, τ i is a generalized force; q i are generalized coordinates; is the generalized velocity;

[0018] Rewrite the kinetic equation into the state equation form:

[0019]

[0020] in, Represent the state equation of the bouncing robot;

[0021] X is the system state variable, and: That is, X(t)∈R 2n , R 2n represents a 2n-dimensional real vector space; x c0 ,y c0 ,z c0 They represent the coordinates of the center of mass of the bouncing robot respectively; represents the velocity of the center of mass; θ j Represents the rotation angle of each joint of the bouncing robot; represents the rotational angular velocity of each joint of the bouncing robot; j = 0, 1, ..., n-3;

[0022] U is the control parameter vector; and U(t)∈R m , R m represents an m-dimensional real vector; m is the number of driven joints, and m<n;

[0023] t represents time;

[0024] 4) Determine the initial and terminal conditions of the state equation; when the terminal moment is fixed, the transversal condition of the free end point is:

[0025]

[0026] 5) Define performance indicators:

[0027]

[0028] Where J is the performance functional; represents the angular velocity of the base, and It is a terminal performance index, that is, it puts forward requirements for the terminal state of the base angular velocity to ensure that the base attitude is as horizontal as possible during landing; t f represents the terminal time, and It is an integral performance index, reflecting the consumption of driving energy of the bouncing robot;

[0029] 6) Determine the permissible range of the control action and use the maximum driving force of each joint as the control constraint |τ i |≤|τ im |, solve the optimal control using the minimum principle, where τ im represents the upper limit of the driving force of the i-th joint;

[0030] 7) Apply the optimal control obtained by solving the problem to the jumping robot described by the state equation.

[0031] Furthermore, in step 2), the total kinetic energy E of the jumping robot is k for:

[0032]

[0033] Among them, E ki represents the kinetic energy of each connecting rod and momentum wheel; u and v represent the number of connecting rods and momentum wheels of each joint in the bouncing robot, respectively; m i Represents the mass of each connecting rod and momentum wheel; I i represents the moment of inertia of each connecting rod and momentum wheel; v i is the linear velocity of the center of mass of each connecting rod and momentum wheel in the inertial system; and:

[0034]

[0035]

[0036] Wherein, v0 represents the linear velocity of the base (10) in the inertial system; ω0 represents the angular velocity of the base in the inertial system; r0 is the position vector of the center of mass of the base in the inertial system; r i is the position vector of the center of mass of each connecting rod and momentum wheel in the inertial system; k kis the unit vector of the kth joint rotation direction; p k is the position vector of the kth revolute joint in the inertial system; represents the angular velocity of the kth joint; ω i is the angular velocity of each connecting rod and momentum wheel in the inertial system; and:

[0037]

[0038] Among them, a k is the position vector of joint k pointing to the center of mass of link k; b k is the position vector of the center of mass of link k pointing to joint k+1.

[0039] Furthermore, in step 2), the total potential energy E of the bouncing robot is p for:

[0040]

[0041] Among them, E pi represents the potential energy of each connecting rod and momentum wheel; g = [g x ,g y ,g z ,0] represents the row vector of gravity, is the homogeneous coordinate representation of the center of mass of link i in coordinate system i, 0 T i is the homogeneous transformation matrix of the fixed coordinate system of link i relative to the inertial coordinate system.

[0042] The beneficial effects of the present invention are:

[0043] The bouncing robot of the present invention drives the reaction momentum wheel to rotate through the control of a servo motor, which essentially forms an angular momentum to the center of mass of the base. The angular momentum generated by the momentum wheel and the angular momentum of the base itself produce the required exchange, so that the robot base has a suitable posture and a small angular velocity at the moment before landing, and finally provides a guarantee for the safety and reliability of the robot's landing. The robot has the characteristics of small calculation amount, simple structure, and easy installation. The required related parameters can be measured by built-in sensors or low-cost external sensors.

[0044] The posture control method of the bouncing robot of the present invention is to set a momentum wheel assembly on the base of the bouncing robot so that the rotating surface of the momentum wheel is located in the plumb plane, that is, the rotating surface of the momentum wheel is located in the plumb plane, thereby forming a control quantity using torque to adjust the base posture; specifically, firstly, generalized coordinates are taken, the system kinetic energy, potential energy and Lagrangian function are calculated, the dynamic equation of the system is obtained and sorted into a state equation, the initial conditions and terminal conditions are determined, the angular velocity of the base at the landing moment and the total energy of the posture control are used as performance functionals, the control allowable range is determined according to the maximum driving force of the joint motor, the optimization problem is solved using the minimum principle, and the driving control force required for each joint is obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to make the purpose, technical solution and beneficial effects of the present invention clearer, the present invention provides the following drawings for illustration:

[0046] Figure 1 It is a structural schematic diagram of an embodiment of a bouncing robot of the present invention;

[0047] Figure 2 is a schematic structural diagram of a momentum wheel assembly;

[0048] Figure 3 This is a schematic diagram of the installation structure of the momentum wheel assembly of the planar bouncing robot;

[0049] Figure 4 This is a schematic diagram of the installation structure of the momentum wheel assembly of the space jumping robot;

[0050] Figure 5 This is a schematic diagram of the mechanical modeling of the planar bouncing robot;

[0051] Figure 6 This is the dynamic model diagram of the plane bouncing robot in the ADAMS software environment;

[0052] Figure 7 This is a schematic diagram of the simulation results of the base posture control of the planar bouncing robot in the ADAMS software environment.

[0053] Description of reference numerals:

[0054] 1-wheel arm; 2-wheel axle; 3-momentum wheel; 4-servo motor; 5-turbine; 6-worm; 7-rotating shaft; 8-wheel axle seat; 9-turbine seat; 10-base; 11-bouncing leg; 12-momentum wheel assembly; 13-upper arm; 14-lower arm. DETAILED DESCRIPTION

[0055] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0056] like Figure 1 The figure is a schematic diagram of the structure of the embodiment of the bouncing robot of the present invention. The bouncing robot of the present embodiment comprises a robot body, the robot body comprises a base 10, and at least two momentum wheel assemblies are evenly distributed in an annular manner on the base 10. Figure 2 As shown, the momentum wheel assembly of this embodiment includes a wheel arm 1, on which is disposed a wheel axle 2 which rotates in coordination with the wheel arm 1, on which is disposed a momentum wheel 3 which rotates synchronously with the wheel axle 2, and on which is disposed a momentum wheel driving mechanism for driving the wheel axle 2 to rotate. The wheel arm 1 is fixedly connected to a base 10.

[0057] Further, the momentum wheel driving mechanism of the present embodiment includes a servo motor 4, and a transmission mechanism is provided between the output shaft of the servo motor 4 and the wheel axle 2. The transmission mechanism of the present embodiment includes a turbine 5 and a worm 6 that mesh with each other, and the rotating shaft 7 of the turbine 5 is transmission-connected with the output shaft of the servo motor 4, and the worm 6 is sleeved on the wheel axle 2 and rotates synchronously with the wheel axle 2. Momentum wheels 3 are provided at both ends of the wheel axle 2 of the present embodiment, and a wheel axle seat 8 and a turbine seat 9 are provided on the wheel arm 1, the wheel axle 2 is rotationally mounted on the wheel axle seat 8, and the rotating shaft 7 of the turbine 5 is rotationally mounted on the turbine seat 9. The rotating shaft 7 of the turbine 5 of the present embodiment is transmission-connected with the output shaft of the servo motor 4 through a coupling.

[0058] Further, two or three momentum wheel assemblies are evenly distributed in a ring on the base 10. Specifically, when two momentum wheel assemblies 12 are evenly distributed in a ring on the base 10, the bouncing robot is a planar bouncing robot. Figure 3 When the base 10 is evenly distributed with three momentum wheel assemblies 12 in an annular shape, the bouncing robot is a space bouncing robot, such as Figure 4 shown.

[0059] Further, a bouncing leg 11 and an execution link for executing an action are provided on the base 10. Taking an electromagnetic release bouncing robot disclosed in a Chinese patent with publication number CN110466635B as an example, three bouncing legs 11 are evenly distributed in a ring on the base 10 of the electromagnetic release bouncing robot, and the execution link constitutes a badminton hitting mechanism, including a large arm rotating shaft fixedly set on the base 10, a large arm 13 rotating synchronously with the large arm rotating shaft is set on the large arm rotating shaft, a small arm 14 coaxial with the large arm 13 is set inside the large arm 13, a wrist is provided on the top of the small arm 14, a wrist rotating shaft is provided on the wrist, a racket handle holder rotating with the wrist is set on the wrist rotating shaft, and a racket is installed on the racket handle holder.

[0060] Of course, the base 10 of the bouncing robot of this embodiment is also provided with a posture sensor, a power supply, a motion controller, etc., which will not be described again.

[0061] The bouncing robot of this embodiment drives the reaction momentum wheel to rotate through the control of the servo motor, essentially forming an angular momentum about the center of mass of the base. The angular momentum generated by the momentum wheel and the angular momentum of the base itself produce the required exchange, so that the robot base has a suitable posture and a small angular velocity at the moment before landing, ultimately providing guarantee for the safety and reliability of the robot's landing. It has the characteristics of small calculation amount, simple structure, and easy installation. The required related parameters can be measured by built-in sensors or low-cost external sensors.

[0062] The following describes in detail the specific implementation of the posture control method of the bouncing robot of this embodiment by taking an electromagnetic release bouncing robot disclosed in Chinese patent publication number CN110466635B as an example.

[0063] The posture control method of the bouncing robot of this embodiment includes the following steps:

[0064] 1) Construct generalized coordinates using the center of mass of the jumping robot and the rotation angles of each joint of the jumping robot. Specifically, take the center of mass of the jumping robot (x0, y0), the rotation angles between the base 10 and the jumping leg, the execution link, the rotation angles between the links in the execution link, and the rotation angle between the momentum wheel and the base 10 to construct generalized coordinates, such as Figure 5 shown.

[0065] 2) Calculate the total kinetic energy E of the bouncing robot k and the total potential energy E p , we get the Lagrangian function: L = E k -E p ;

[0066] Specifically, the total kinetic energy E of the bouncing robot k for:

[0067]

[0068] Among them, E ki represents the kinetic energy of each connecting rod and momentum wheel; u and v represent the number of connecting rods and momentum wheels of each joint in the bouncing robot, respectively; m i Represents the mass of each connecting rod and momentum wheel; I i represents the moment of inertia of each connecting rod and momentum wheel; v i is the linear velocity of the center of mass of each connecting rod and momentum wheel in the inertial system; and:

[0069]

[0070]

[0071] Wherein, v0 represents the linear velocity of the base 10 in the inertial system; ω0 represents the angular velocity of the base 10 in the inertial system; r0 is the position vector of the center of mass of the base 10 in the inertial system; r i is the position vector of the center of mass of each connecting rod and momentum wheel in the inertial system; k k is the unit vector of the kth joint rotation direction; p k is the position vector of the kth revolute joint in the inertial system; represents the angular velocity of the kth joint; ω i is the angular velocity of each connecting rod and momentum wheel in the inertial system; and:

[0072]

[0073] Among them, a k is the position vector of joint k pointing to the center of mass of link k; b k is the position vector of the center of mass of link k pointing to joint k+1.

[0074] The total potential energy E of the bouncing robot p for:

[0075]

[0076] Among them, E pi represents the potential energy of each connecting rod and momentum wheel; g = [g x ,g y ,g z ,0] represents the row vector of gravity, is the homogeneous coordinate representation of the center of mass of link i in coordinate system i, 0 T i is the homogeneous transformation matrix of the fixed coordinate system of link i relative to the inertial coordinate system.

[0077] Specifically, in this embodiment:

[0078]

[0079]

[0080]

[0081]

[0082] Among them, E k0 、E k1 、E k2 and E k3Respectively represent the kinetic energy of the base 10, the upper arm 13, the lower arm 14 and the momentum wheel assembly 12; m0, m1, m2, m3 respectively represent the mass of the base 19, the upper arm 13, the lower arm 14 and the momentum wheel assembly 12; represents the linear velocity of the base 10 in the x direction; represents the linear velocity of the base 10 in the y direction; represents the rotational angular velocity of the base 10; It represents the rotational angular velocity of the upper arm; It represents the rotational angular velocity of the forearm; represents the rotational angular velocity of the momentum wheel; I0 represents the moment of inertia of the base; I3 represents the moment of inertia of the momentum wheel; l1 represents the length of the upper arm 13; l2 represents the length of the lower arm 14; θ0 represents the rotation angle of the base; θ1 represents the rotation angle of the upper arm; θ2 represents the rotation angle of the lower arm; It represents the distance from the center of mass of the base 10 to the joint between the base 10 and the upper arm 13.

[0083] E p0 =m0gy0

[0084]

[0085]

[0086] E p3 =m3gy0

[0087] E p0 、E p1 、E p2 、E p3 Represent the potential energy of the base, upper arm, lower arm and momentum wheel assembly respectively.

[0088] 3) According to the Lagrangian function, the dynamic equation of the bouncing robot is obtained:

[0089]

[0090] Among them, τ i is a generalized force; q i are generalized coordinates; is the generalized velocity;

[0091] Specific:

[0092]

[0093]

[0094]

[0095]

[0096]

[0097]

[0098] Among them, τ1=τ2=τ3=0, τ4, τ5, τ6 are the driving torques of the joints between the base and the upper arm, between the upper arm and the lower arm, and between the base and the momentum wheel, respectively.

[0099] Rewrite the kinetic equation into the state equation form:

[0100]

[0101] Where X is the system state vector and:

[0102]

[0103] That is, X(t)∈R 2n , R 2n represents a 2n-dimensional real vector space; x c0 ,y c0 ,z c0 They represent the coordinates of the center of mass of the bouncing robot respectively; represents the linear velocity of the center of mass of the bouncing robot in the x, y, and z directions respectively; θ j Represents the rotation angle of each joint of the bouncing robot; represents the rotational angular velocity of each joint of the bouncing robot; and j=0,1,…,n-3;

[0104] U represents the control parameter vector; and U(t)∈R m , R m represents an m-dimensional real vector space; m is the number of driven joints, and m<n;

[0105] t represents time.

[0106] In this embodiment:

[0107]

[0108] U(t)=[0,0,0,0,0,0,0,τ4(t),0,τ5(t),0,τ6(t)] T

[0109] 4) Determine the initial and terminal conditions of the state equation.

[0110] Specifically, the initial condition of the state equation is: X(t0) = X0. When t = t0, the center of mass position (x0, y0) of the base is the current position, the base attitude angle θ0 is the value measured by the attitude sensor, and the angles θ1, θ2, and θ3 are measured by the angle sensors at the joints; the center of mass velocity is the current speed, the angular velocity of the base The connecting rod angular velocity is calculated by the base attitude angle through the differential method. It is calculated by the connecting rod angle value through the difference method.

[0111] The terminal condition of the state equation is: X(t f )=X f t=t f When, among the components, the center of mass position (x0, y0), the center of mass velocity It is obtained from the parabolic equation of the system's center of mass motion and is taken as a fixed value. Other components such as the angle θ1, θ2, θ3, and angular velocity The base attitude angle θ0 is the control object and is set to a specified value according to the landing requirements; the base angular velocity For the optimization object, free in terminal conditions.

[0112] When the terminal moment is fixed, the transversal condition of the free end point is:

[0113]

[0114] 5) Define performance indicators:

[0115]

[0116] Where J is the performance functional; represents the angular velocity of the base, and It is a terminal performance index, that is, it puts forward requirements for the terminal state of the base angular velocity to ensure that the base attitude is as horizontal as possible during landing; t f represents the terminal time, and It is an integral performance index, reflecting the consumption of driving energy of the bouncing robot;

[0117] 6) Determine the permissible range of the control action and use the maximum driving force of each joint as the control constraint |τ i |≤|τ im |, where τ im represents the control constraint condition of joint i. Specifically, the control constraint includes |τ4|≤|τ 4m |,|τ5|≤|τ 5m |,|τ6|≤|τ 6m |,τ 4m , τ 5m and τ 6m They represent the control force extreme conditions of the joints between the base and the upper arm, between the upper arm and the lower arm, and between the base and the momentum wheel.

[0118] The optimal control is solved by the minimum principle. This embodiment solves the optimal control according to the Pontryagin minimum principle.

[0119] 7) Apply the optimal control obtained by solving the problem to the jumping robot described by the state equation. Specifically, Directly applied to the driving joints between the base and the upper arm and between the upper arm and the lower arm, the optimal control is applied according to the angular momentum equivalence principle. Decompose into N is the number of momentum wheel assemblies, and the decomposed optimal control ε is applied to each momentum wheel assembly respectively.

[0120] This embodiment verifies the effectiveness of the jumping robot posture control method of this embodiment by simulating in the dynamics simulation software ADAMS. Figure 5 As shown, the dynamic model of the planar bouncing robot established in ADAMS.

[0121] The posture control method of the bouncing robot in this embodiment is to set a momentum wheel assembly on the base of the bouncing robot so that the rotation surface of the momentum wheel is located in the plumb plane, that is, the rotation surface of the momentum wheel is located in the plumb plane, thereby forming a control quantity using torque to adjust the base posture; specifically, firstly take generalized coordinates, calculate the system kinetic energy, potential energy and Lagrangian function, obtain the system's dynamic equation and organize it into a state equation, determine the initial conditions and terminal conditions, take the angular velocity of the base at the landing moment and the total energy of posture control as the performance functional, determine the control allowable range according to the maximum driving force of the joint motor, use the minimum principle to solve the optimization problem, and obtain the driving control force required for each joint.

[0122] The above-described embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or changes made by those skilled in the art based on the present invention are within the protection scope of the present invention. The protection scope of the present invention shall be subject to the claims.

Claims

1. A posture control method for a bouncing robot, characterized in that: The bouncing robot comprises a robot body, the robot body comprises a base (10), at least two momentum wheel assemblies are evenly distributed in a ring on the base (10); the momentum wheel assembly comprises a wheel arm (1), the wheel arm (1) is provided with a wheel axle (2) which rotates with the wheel arm, the wheel axle (2) is provided with a momentum wheel (3) which rotates synchronously with the wheel axle, and the wheel arm (1) is also provided with a momentum wheel driving mechanism for driving the wheel axle (2) to rotate; the wheel arm (1) is fixedly connected to the base (10); the base (10) is provided with a bouncing leg (11) and an execution connecting rod for executing an action; The method comprises the following steps: 1) constructing generalized coordinates based on the center of mass of the jumping robot and the rotation angles of each joint of the jumping robot; 2) Calculate the total kinetic energy E of the bouncing robot k and the total potential energy E p , we get the Lagrangian function: L = E k -E p ; 3) According to the Lagrangian function, the dynamic equation of the bouncing robot is obtained: Among them, τ i is a generalized force; q i are generalized coordinates; is the generalized velocity; Rewrite the kinetic equation into the state equation form: in, Represent the state equation of the bouncing robot; X is the system state variable, and: That is, X(t)∈R 2n , R 2n represents a 2n-dimensional real vector space; x c0 ,y c0 ,z c0 They represent the coordinates of the center of mass of the bouncing robot respectively; represents the velocity of the center of mass; θ j Represents the rotation angle of each joint of the bouncing robot; represents the rotational angular velocity of each joint of the bouncing robot; j = 0, 1, ..., n-3; U is the control parameter; and U(t)∈R m , R m represents an m-dimensional real vector; m is the number of driven joints, and m<n; t represents time; 4) Determine the initial and terminal conditions of the state equation; when the terminal moment is fixed, the transversal condition of the free end point is: 5) Define performance indicators: Where J is the performance functional; represents the angular velocity of the base, and It is a terminal performance index, that is, it puts forward requirements for the terminal state of the base angular velocity to ensure that the base attitude is as horizontal as possible during landing; t f represents the terminal time, and It is an integral performance index, reflecting the consumption of driving energy of the bouncing robot; 6) Determine the permissible range of the control action and use the maximum driving force of each joint as the control constraint |τ i |≤|τ im |, solve the optimal control using the minimum principle, where τ im represents the upper limit of the driving force of the i-th joint; 7) Apply the optimal control obtained by solving the problem to the jumping robot described by the state equation.

2. The posture control method of the jumping robot according to claim 1, characterized in that: The momentum wheel driving mechanism comprises a servo motor (4), and a transmission mechanism is provided between the output shaft of the servo motor (4) and the wheel axle (2).

3. The posture control method of the jumping robot according to claim 2, characterized in that: The transmission mechanism comprises a turbine (5) and a worm (6) which mesh with each other, the rotating shaft (7) of the turbine (5) being transmission-connected to the output shaft of the servo motor (4), and the worm (6) being sleeved on the wheel axle (2) and rotating synchronously with the wheel axle (2).

4. The posture control method of the jumping robot according to any one of claims 1 to 3, characterized in that: The momentum wheels (3) are respectively provided at both ends of the wheel axle (2).

5. The posture control method of the jumping robot according to claim 1, characterized in that: Two or three momentum wheel assemblies are evenly distributed in an annular manner on the base (10).

6. The posture control method of the jumping robot according to claim 1, characterized in that: In step 2), the total kinetic energy E of the bouncing robot k for: Among them, E ki represents the kinetic energy of each connecting rod and momentum wheel; u and v represent the number of connecting rods and momentum wheels of each joint in the bouncing robot, respectively; m i Represents the mass of each connecting rod and momentum wheel; I i represents the moment of inertia of each connecting rod and momentum wheel; v i is the linear velocity of the center of mass of each connecting rod and momentum wheel in the inertial system; and: Wherein, v0 represents the linear velocity of the base (10) in the inertial system; ω0 represents the angular velocity of the base (10) in the inertial system; r0 is the position vector of the center of mass of the base (10) in the inertial system; r i is the position vector of the center of mass of each connecting rod and momentum wheel in the inertial system; k k is the unit vector of the kth joint rotation direction; p k is the position vector of the kth revolute joint in the inertial system; represents the angular velocity of the kth joint; ω i is the angular velocity of each connecting rod and momentum wheel in the inertial system; and: Among them, a k is the position vector of joint k pointing to the center of mass of link k; b k is the position vector of the center of mass of link k pointing to joint k+1.

7. The posture control method of the jumping robot according to claim 1, characterized in that: In step 2), the total potential energy E of the bouncing robot p for: Among them, E pi represents the potential energy of each connecting rod and momentum wheel; g = [g x ,g y ,g z ,0] represents the row vector of gravity, is the homogeneous coordinate representation of the center of mass of link i in coordinate system i, 0 T i is the homogeneous transformation matrix of the fixed coordinate system of link i relative to the inertial coordinate system.

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