Hybrid hopping robot for slippery ground and control method thereof

Abstract

The application discloses a hybrid power bouncing robot for easy-to-slip ground, which comprises a trunk, spring legs, an optimal controller, an inertial measurement unit, a hip joint, a plurality of propelling devices and rotating joints thereof; the trunk is connected with the spring legs through the hip joint, the hip joint is located at the center of the trunk, the spring leg is a telescopic joint, the inertial measurement unit and the optimal controller are fixedly connected with the trunk respectively, the propelling device is connected with the corresponding rotating joint thereof, the rotating joint is connected with the trunk, and the inertial measurement unit, the propelling device and the rotating joint thereof, the spring leg and the hip joint are electrically connected with the optimal controller. The application solves the problem that the bouncing robot slips on the easy-to-slip ground, and has the characteristics of simple structure, stable bouncing, strong anti-interference capability and easy realization.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a hybrid-powered bouncing robot designed for slippery surfaces and its control method. Background Technology

[0002] There are many slippery environments in both everyday life and nature, such as wet ground and rugged slopes. There are also low-gravity environments, such as in space or on the moon. These environments often cannot provide sufficient friction and support. If the robot's angle with the ground upon contact with the ground is not contained within the friction cone, the robot will slip. In cases of severe slippage, the robot has almost no ability to regain its balance. In cases of slight slippage, the robot's jumping posture is unstable, and after multiple bounces, the robot will fall, ultimately resulting in catastrophic damage. Therefore, preventing slippage and adjusting its posture in time for better subsequent jumps is crucial.

[0003] Currently, jumping robots often employ the following strategies to prevent slipping in slippery environments: 1) Improving the contact material between the feet and the ground to increase the coefficient of friction, such as installing hemispherical rubber toes on the robot's feet. However, this method is ineffective on extremely smooth surfaces. 2) Adjusting the acceleration of the center of mass to prevent slipping during the support phase. Specifically, hip joint torque is generally used to control the direction of the end effector's reaction force to ensure that the friction angle is within the range of the ground friction cone. However, the support phase is extremely short, and short-duration control cannot achieve good control results. 3) Optimizing the distribution of contact forces to plan a non-slip gait for the robot. However, this method is only suitable for situations where the ground has been modeled and cannot be planned for unknown environments. As can be seen from the above methods, relying solely on joint forces during the support phase to prevent robot slipping has significant limitations. Summary of the Invention

[0004] To overcome the shortcomings of existing jumping robots in performing jumps on slippery surfaces, this invention provides a hybrid power jumping robot designed for slippery surfaces and its control method.

[0005] The primary objective of this invention is to solve the aforementioned technical problems. The technical solution of this invention is as follows:

[0006] The first aspect of this invention provides a hybrid-powered bouncing robot for slippery surfaces, comprising: a torso, spring-loaded legs, an optimal controller, an inertial measurement unit, a hip joint, multiple propulsion devices and their rotational joints; the torso and spring-loaded legs are connected via the hip joint, the hip joint being located at the center of the torso, the spring-loaded legs being telescopic joints, the inertial measurement unit and the optimal controller being fixedly connected to the torso, the propulsion devices being connected to their corresponding rotational joints, the rotational joints being connected to the torso, and the inertial measurement unit, propulsion devices and their rotational joints, spring-loaded legs and hip joints being electrically connected to the optimal controller;

[0007] The propulsion device is used to provide auxiliary jumping power, the rotary joint is used to control the propulsion direction of the propulsion device, the inertial measurement unit is used to measure the torso posture, and the optimal controller is used to calculate the theoretical thrust required by the propulsion device and the rotation angle of each joint based on the robot's current state.

[0008] Furthermore, the plurality of propulsion devices and their rotating joints include a first propulsion device, a first rotating joint, a second propulsion device, and a second rotating joint, wherein the first propulsion device and the first rotating joint are located on both sides of the torso, and the second propulsion device and the second rotating joint are located on both sides of the torso; the hip joint includes an x-axis joint and a y-axis joint, wherein the x-axis joint and the y-axis joint are orthogonal, and the torso and the spring leg are connected through the x-axis joint and the y-axis joint; the hybrid-powered jumping robot also includes feet, wherein the feet are fixedly connected to the spring leg.

[0009] A second aspect of the present invention provides a control method for a hybrid-powered bouncing robot designed for slippery surfaces, comprising:

[0010] The robot's current state is estimated based on the torso posture information and joint information obtained by the inertial measurement unit. The current state includes one or more of the following: robot position, contact state with the ground, robot end-effector sliding state, and spring leg extension and retraction state during the support phase.

[0011] During the support phase, the spring leg uses torque control to achieve the jump. The optimal controller controls the hip joint to apply torque to control the ground friction angle, so that the leg angle returns to the friction cone range. The propulsion device generates thrust to assist in adjusting the body posture and forward acceleration, and suppresses robot slippage.

[0012] During the take-off phase, the robot's forward speed is controlled by controlling the hip joint. Then, the optimal controller calculates the wind force required by the propulsion device and the rotation angle of its rotating joints based on the robot's torso posture and forward speed when it jumps. After that, the propulsion device and its rotating joints are used to adjust the robot to the pre-set state. Finally, just before landing, the propulsion device generates wind force to serve as a landing cushion for the robot.

[0013] Furthermore, the robot's current state is estimated based on the torso posture information obtained using an inertial measurement unit and joint information, including:

[0014] The velocity information v of the torso is measured by the inertial measurement unit. x ,v y ,v z Then, integral calculations are performed to estimate the robot's position (x, y, z) in the air; based on the sudden change in current I of the spring leg... c To determine whether the robot has touched the ground, a sudden change in the current of the spring leg indicates that the robot has landed; the inertial measurement unit measures the posture information of the torso, and the dynamic equation of the robot torso can be used to predict the trajectory of the torso. By comparing with the posture information, it is determined whether the robot is in a sliding state; the extension length Δl of the spring leg is used to determine whether the robot is in the compression phase or the extension phase.

[0015] Furthermore, the spring leg achieves bouncing using torque control, including:

[0016] The spring leg uses torque control, with the torque value being proportional to the amount of compression. An additional torque is applied during the extension phase in the support phase to ensure that the bounce height reaches the desired value.

[0017] Furthermore, the optimal controller controls the hip joint to apply torque to control the ground friction angle, bringing the leg angle back within the friction cone range, including:

[0018] The direction of the ground reaction force at the robot's end effector is kept within the ground friction cone. Based on the relationship between the robot's leg angle and the ground friction angle, the robot's motion states are divided into three categories: entering beyond the friction cone, not exceeding the friction cone, and leaving beyond the friction cone. Then, based on real-time leg angle and leg length data, the boundary torque applied to the torso is calculated for each of the three states. The boundary values ​​are calculated as follows:

[0019] 1) When the leg angle exceeds the friction cone range, there exists a boundary value for τ that pulls the ground reaction angle back into the friction cone range. τ is the torque applied by the hip joint. When the leg angle is within the friction cone range, the boundary of τ is 0. The boundary of τ is related to the angle between the current leg angle and the maximum friction cone, as shown in the following formula:

[0020]

[0021] Among them, F τmin For the minimum additional force, τ min To minimize the additional torque, l cur Given the current leg length, F f Let θ represent the spring force of the leg, θ represent the difference between the leg angle and the maximum friction cone angle, and φ represent the current leg friction angle. The maximum friction cone angle;

[0022] 2) Inside the friction cone, τ has a boundary value to prevent the friction angle from exceeding the range of the friction cone; the formula is as follows:

[0023]

[0024] The torque required to control the hip joint to prevent slippage can be calculated using the above formula.

[0025] Furthermore, the adjustment of hip joint torque to control the trunk posture during the support phase includes:

[0026] The robot's posture error is obtained, and the posture is controlled by PD torque using the hip joint, thereby achieving trunk posture control of the support phase.

[0027] Furthermore, the control of the robot's forward velocity by controlling the hip joint includes:

[0028] To control the forward velocity, the angle of the leg swing in the forward direction is controlled, that is, the angle of the hip joint is controlled. When the landing point is at the neutral point during the jump, the robot's forward velocity will not change. The error between the robot's forward velocity and the desired velocity is input into the optimal controller to obtain the angle of the hip joint swing, thereby achieving control of the forward velocity. Similarly, when jumping in three-dimensional space, the lateral velocity is affected by the lateral hip joint swing.

[0029] Furthermore, the optimal controller calculates the wind force required for the propulsion device and the rotation angle of its rotating joints based on the robot's torso posture and forward velocity when it jumps, including:

[0030] When there are two propulsion devices, the wind forces f1 and f2 of the two propulsion devices are decomposed along the vertical and horizontal directions to obtain three control quantities F_f1, F_b1, and F_x. Based on the data fed back from the inertial measurement unit, the torso attitude θ at each moment is calculated in real time. pitch and forward velocity v x The error is input into the optimal controller, and the robot's state equation is as follows:

[0031]

[0032] Where, x, These represent the position, velocity, and acceleration of the torso; φ, Let g be the pitch angle, angular velocity, and angular acceleration of the torso; M be the gravitational acceleration; l be the distance between the torso's forward and backward propulsion devices and the torso's center of mass; and J be the torso's moment of inertia along the y-axis.

[0033] The three control variables obtained are then used to solve for the wind force f1, f2 required for the propulsion device and the rotation angle θ of the rotating joint using formulas. fan .

[0034] Furthermore, the propulsion device generates wind force as a landing cushion for the robot just before landing, including:

[0035] When the robot is in the air and in a pre-set state, the robot's falling speed v is measured by the inertial measurement unit. z Estimate the ground impact force f upon landing i Then calculate the wind force f required for the propulsion device. z Utilizing vertical wind force f z To provide a buffer upon landing.

[0036] Compared with the prior art, the beneficial effects of the technical solution of the present invention are:

[0037] This invention discloses a hybrid-powered jumping robot designed for slippery surfaces. The robot comprises a torso, spring-loaded legs, an optimal controller, an inertial measurement unit (IMU), hip joints, multiple propulsion devices, and their rotating joints. The introduction of rotating propulsion devices as auxiliary jumping power enhances the robot's dynamic jumping ability and, to a certain extent, prevents slipping on low-friction surfaces. This allows the robot to perform continuous jumps with higher forward speeds on slippery surfaces, overcomes the effects of slight slips during the take-off phase, and improves anti-interference capabilities. The cushioning force of the propulsion devices also makes the robot's jumps smoother. The torso and spring-loaded legs are connected via hip joints, with the hip joint located at the center of the torso. The spring-loaded legs are telescopic joints. The IMU and the optimal controller are fixedly connected to the torso. The propulsion devices are connected to their corresponding rotating joints, which are connected to the torso. The IMU, propulsion devices and their rotating joints, spring-loaded legs, and hip joints are electrically connected to the optimal controller. Attached Figure Description

[0038] Figure 1 This is a structural diagram of a hybrid-powered bouncing robot designed for slippery surfaces, provided as an embodiment of this application.

[0039] Figure 2 A flowchart illustrating a control method for a hybrid bouncing robot designed for slippery surfaces, as provided in this application embodiment.

[0040] Figure 3 This application provides a phase diagram of a hybrid bouncing robot designed for slippery surfaces.

[0041] Figure 4 A phase diagram of a hybrid-powered bouncing robot designed for slippery surfaces, provided in an embodiment of this application. Detailed Implementation

[0042] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0043] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0044] Example 1

[0045] like Figure 1 As shown, the first aspect of the present invention provides a hybrid bouncing robot for slippery surfaces, comprising: a torso (1), spring legs (10), an optimal controller (6), an inertial measurement unit (7), a hip joint, multiple propulsion devices and their rotational joints; the torso (1) and the spring legs (10) are connected by the hip joint, the hip joint is located at the center of the torso (1), the spring legs (10) are telescopic joints, the inertial measurement unit (7) and the optimal controller (6) are fixedly connected to the torso (1), the propulsion devices are connected to their corresponding rotational joints, the rotational joints are connected to the torso (1), and the inertial measurement unit (7), the propulsion devices and their rotational joints, the spring legs (10) and the hip joints are electrically connected to the optimal controller (6);

[0046] The propulsion device is used to provide auxiliary bouncing power, the rotary joint is used to control the propulsion direction of the propulsion device, the inertial measurement unit (7) is used to measure the torso posture, and the optimal controller (6) is used to calculate the theoretical thrust required by the propulsion device and the rotation angle of each joint according to the current state of the robot.

[0047] More specifically, the plurality of propulsion devices and their rotating joints include a first propulsion device (2), a first rotating joint (3), a second propulsion device (4), and a second rotating joint (5), wherein the first propulsion device (2) and the first rotating joint (3) are located on both sides of the torso (1), the second propulsion device (4) and the second rotating joint (5) are located on both sides of the torso (1); the hip joint includes an x-axis joint (9) and a y-axis joint (8), wherein the x-axis joint (9) and the y-axis joint (8) are orthogonal, and the torso (1) and the spring leg (10) are connected through the x-axis joint (9) and the y-axis joint (8); the hybrid bouncing robot also includes a foot (11), wherein the foot (11) is fixedly connected to the spring leg (10).

[0048] like Figure 2As shown, a second aspect of the present invention provides a control method for a hybrid-powered bouncing robot oriented towards slippery surfaces, comprising the following steps:

[0049] S1: Obtain torso posture information using an inertial measurement unit, and estimate the robot's current state based on the torso posture information and joint information. The current state includes one or more of the following: robot position, contact state with the ground, robot end effector sliding state, and spring leg extension / retraction state during the support phase.

[0050] More specifically, the velocity information v of the torso is measured by the inertial measurement unit. x ,v y ,v z Then, integration is performed to estimate the robot's position (x, y, z) in the air, thus the inertial measurement unit performs the function of odometry; based on the sudden change in current I of the spring leg... c To determine whether the robot has touched the ground, a sudden change in the current of the spring-loaded leg indicates that the robot has landed, serving as a marker to distinguish between the airborne and support phases. The inertial measurement unit measures the robot's torso's pitch, roll, and yaw information. The robot's torso's dynamic equations can be used to predict the torso's trajectory. By comparing this trajectory with the attitude information, it can be determined whether the robot is in a sliding state. The extension / retraction length Δl of the spring-loaded leg indicates whether the robot is in a compression or extension phase. Through these methods, the robot's state can be estimated.

[0051] S2: During the support phase, the spring leg uses torque control to achieve jumping. The optimal controller controls the hip joint to apply torque to control the ground friction angle, so that the leg angle returns to the friction cone range. The propulsion device generates thrust to assist in adjusting the body posture and forward acceleration, and suppressing robot slippage.

[0052] It should be noted that during the support phase, the hip joint applies torque to control the ground friction angle, bringing the leg angle back within the friction cone range. Furthermore, the forward and backward propulsion mechanisms are used to control the torso's posture and forward acceleration. Controlling the torso posture helps prevent excessive torso deflection caused by the hip joint torque. When the robot slips, controlling the torso's forward acceleration helps the leg angle quickly return to the friction cone range, suppressing severe slippage.

[0053] More specifically, to achieve the bounce, the spring leg uses torque control, with the torque value being proportional to the amount of compression. Furthermore, due to energy loss during the bounce process, an additional torque is applied during the elongation phase in the support phase to ensure that the bounce height reaches the desired value.

[0054] It should be noted that during the support phase, controlling the torque applied by the hip joint can keep the direction of the ground reaction force at the robot's end within the range of the ground friction cone. Furthermore, the optimal controller controls the angle of the propulsion device rotating the torso and the wind force of the propulsion device, which can generate torque on the torso, thereby suppressing excessive deflection of the torso caused by the hip joint torque, and simultaneously controlling the forward acceleration of the torso, thus preventing the robot from experiencing severe slippage.

[0055] More specifically, due to the relatively low coefficient of friction of the ground, the angle between the spring-loaded legs and the ground may be smaller than the friction cone range when the robot lands. Therefore, a torque is applied to the torso to control the direction of the ground reaction force, thus ensuring that the robot does not slip. During the support phase, based on the relationship between the robot's leg angle and the ground friction angle, the robot's motion is divided into three states: entering beyond the friction cone, not exceeding the friction cone, and leaving beyond the friction cone. Then, the boundary torque applied to the torso is calculated for each of these three states based on real-time leg angle and leg length data. The boundary values ​​are calculated as follows:

[0056] 1) such as Figure 3 As shown, when the leg angle exceeds the friction cone range, there exists a boundary value for τ that pulls the ground reaction angle back into the friction cone range. τ is the torque applied by the hip joint. When the leg angle is within the friction cone range, the boundary of τ is 0. The boundary of τ is related to the angle between the current leg angle and the maximum friction cone, as shown in the following formula:

[0057]

[0058] Among them, F τmin For the minimum additional force, τ min To minimize the additional torque, l cur Given the current leg length, F f Let θ represent the spring force of the leg, θ represent the difference between the leg angle and the maximum friction cone angle, and φ represent the current leg angle. The maximum friction cone angle;

[0059] 2) Inside the friction cone, τ has a boundary value to prevent the friction angle from exceeding the range of the friction cone; the formula is as follows:

[0060]

[0061] The above formula allows us to accurately determine the torque required to control the hip joint in order to prevent slippage.

[0062] More specifically, the errors in the robot's pitch and roll postures are obtained, and the hip joint is used to perform PD torque control on the two postures, thereby achieving trunk posture control in the support phase.

[0063] S3: During the airborne phase, the forward speed of the robot is controlled by controlling the hip joint. Then, the optimal controller calculates the wind force required by the propulsion device and the rotation angle of its rotating joints based on the robot's torso posture and forward speed when it jumps. After that, the propulsion device and its rotating joints are used to adjust the robot to the pre-set state. Finally, when the robot is about to land, the propulsion device generates wind force as a landing cushion for the robot.

[0064] It should be noted that during the airborne phase, using the forward and backward propulsion devices to control the robot's posture and forward speed can effectively control excessive deflection of the torso posture caused by slippage.

[0065] More specifically, to control forward velocity, the angle of the leg swing in the forward direction is controlled, i.e., the pitch angle of the hip joint. When the landing point is at the neutral point during a jump, the robot's forward velocity remains unchanged. The error between the robot's forward velocity and the desired velocity is input into the optimal controller to obtain the angle of the hip joint swing, thereby controlling the forward velocity. Similarly, during a jump in three-dimensional space, the lateral velocity is affected by the lateral hip joint swing.

[0066] It should be noted that, as Figure 4 As shown, during the take-off phase, due to the weight of the robot's legs, the torso's posture is affected by the leg swing, and there is also the potential impact of a slight slip. Therefore, a torso propulsion device is used for control. Based on the data fed back from the inertial measurement unit, the torso posture and forward velocity errors are calculated. These errors are then input into the optimal controller to calculate the wind force required for the propulsion device and the rotation angle of the joints. This controls the robot's torso posture and forward velocity within a stable range, thereby controlling the robot's stable jump and offsetting the forward velocity drift and posture instability during the jump when the ground is slippery, so as to better prepare for the next jump.

[0067] More specifically, when the number of propulsion devices is two, the wind forces f1 and f2 of the two propulsion devices are decomposed along the vertical and horizontal directions to obtain three decomposed control quantities F_f1, F_b1, and F_x. Based on the data measured and fed back by the inertial measurement unit, the torso attitude pitch and forward velocity v at each moment are calculated in real time. x The error is input into the optimal controller, and the robot's state equation is as follows:

[0068]

[0069] Where, x, These represent the position, velocity, and acceleration of the torso; φ, Let g be the pitch angle, angular velocity, and angular acceleration of the torso; M be the gravitational acceleration; l be the distance between the torso's forward and backward propulsion devices and the torso's center of mass; and J be the torso's moment of inertia along the y-axis.

[0070] The three control variables obtained are then used to solve for the wind force f1, f2 required by the propulsion device and the rotation angle θ of the rotating joint through inverse equations. fan This allows control over the robot's pitch posture and forward speed, stabilizing the robot's aerial state for a better next jump.

[0071] More specifically, when the robot is in the air and in the desired state, the robot's falling speed v is measured by the inertial measurement unit. z Estimate the ground impact force f upon landing i Then calculate the wind force f required for the propulsion device. z Utilizing vertical wind force f z To provide a buffer upon landing.

[0072] The same or similar labels correspond to the same or similar parts;

[0073] The terms used to describe positional relationships in the accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent.

[0074] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A control method for a hybrid-powered bouncing robot designed for slippery surfaces, characterized in that, include: A hybrid-powered bouncing robot designed for slippery surfaces includes: a torso, spring-loaded legs, an optimal controller, an inertial measurement unit (IMU), hip joints, multiple propulsion devices, and their rotational joints. The torso and spring-loaded legs are connected via hip joints, with the hip joints located at the center of the torso. The spring-loaded legs are telescopic joints. The IMU and the optimal controller are fixedly connected to the torso. The propulsion devices are connected to their corresponding rotational joints, which are connected to the torso. The IMU, propulsion devices, their rotational joints, spring-loaded legs, and hip joints are electrically connected to the optimal controller. The propulsion device is used to provide auxiliary jumping power, the rotary joint is used to control the propulsion direction of the propulsion device, the inertial measurement unit is used to measure the torso posture, and the optimal controller is used to calculate the theoretical thrust required by the propulsion device and the rotation angle of each joint based on the robot's current state. The above methods include: The robot's current state is estimated based on the torso posture information and joint information obtained by the inertial measurement unit. The current state includes one or more of the following: robot position, contact state with the ground, robot end-effector sliding state, and spring leg extension and retraction state during the support phase. During the support phase, the spring leg uses torque control to achieve the jump. The optimal controller controls the hip joint to apply torque to control the ground friction angle, so that the leg angle returns to the friction cone range. The propulsion device generates thrust to assist in adjusting the body posture and forward acceleration, and suppresses robot slippage. During the takeoff phase, the robot's forward velocity is controlled by controlling the hip joints. Then, the optimal controller calculates the wind force required by the propulsion device and the rotation angle of its rotating joints based on the robot's torso posture and forward velocity at the time of jump. Subsequently, the propulsion device and its rotating joints are used to adjust the robot to a pre-set state. Finally, just before landing, the propulsion device generates wind force to act as a landing cushion for the robot. The optimal controller controls the application of torque to the hip joint to control the ground friction angle, bringing the leg angle back within the friction cone range, including: The direction of the ground reaction force at the robot's end effector is kept within the ground friction cone. Based on the relationship between the robot's leg angle and the ground friction angle, the robot's motion states are divided into three categories: entering beyond the friction cone, not exceeding the friction cone, and leaving beyond the friction cone. For each of these three cases, the boundary torque applied to the torso is calculated based on real-time leg angle and leg length data. The boundary values ​​are calculated as follows: When the leg angle exceeds the range of the friction cone There exist boundary values ​​that cause the ground reaction angle to pull back into the friction cone range. The torque applied to the hip joint, The boundary is related to the angle between the current leg angle and the maximum friction cone, as shown in the following formula: in, To minimize additional force, To minimize the additional torque, Given the current leg length, For the elasticity of the spring legs, This represents the difference between the leg angle and the maximum friction cone angle. For the current leg angle, The maximum friction cone angle; Inside the friction cone There are boundary values ​​to prevent the friction angle from exceeding the range of the friction cone; the formula is as follows: The torque required to control the hip joint to prevent slippage can be calculated using the above formula.

2. The control method for a hybrid-powered bouncing robot oriented towards slippery surfaces according to claim 1, characterized in that, The plurality of propulsion devices and their rotating joints include a first propulsion device, a first rotating joint, a second propulsion device, and a second rotating joint, wherein the first propulsion device and the first rotating joint are located on both sides of the torso, and the second propulsion device and the second rotating joint are located on both sides of the torso; the hip joint includes an x-axis joint and a y-axis joint, wherein the x-axis joint and the y-axis joint are orthogonal, and the torso and the spring leg are connected through the x-axis joint and the y-axis joint; the hybrid-powered jumping robot also includes feet, wherein the feet are fixedly connected to the spring leg.

3. The control method for a hybrid-powered bouncing robot oriented towards slippery surfaces according to claim 1, characterized in that, The robot's current state is estimated based on torso posture information acquired using an inertial measurement unit (IMU) and joint information, including: The velocity information of the torso is measured using an inertial measurement unit. Then, an integral calculation is performed to estimate the robot's position in the air. Based on the sudden change in current of the spring leg To determine if the robot has touched the ground, a sudden change in the current of the spring-loaded legs indicates that the robot has landed. The inertial measurement unit (IMU) measures the posture information of the torso; the dynamic equations of the robot's torso can be used to predict the torso's trajectory. By comparing this trajectory with the posture information, it is determined whether the robot is in a sliding state. The extension and retraction length of the spring-loaded legs is also considered. This is used to determine whether the robot is in the compression or elongation phase.

4. The control method for a hybrid-powered bouncing robot oriented towards slippery surfaces according to claim 1, characterized in that, The spring-loaded leg uses torque control to achieve jumping, including: The spring leg uses torque control, with the torque value being proportional to the amount of compression. An additional torque is applied during the extension phase in the support phase to ensure that the bounce height reaches the desired value.

5. The control method for a hybrid-powered bouncing robot oriented towards slippery surfaces according to claim 1, characterized in that, The control of the robot's forward velocity by controlling the hip joint includes: To control the forward velocity, the angle of the leg swing in the forward direction is controlled, that is, the angle of the hip joint is controlled. When the landing point is at the neutral point during the jump, the robot's forward velocity will not change. The error between the robot's forward velocity and the desired velocity is input into the optimal controller to obtain the angle of the hip joint swing, thereby achieving control of the forward velocity. Similarly, when jumping in three-dimensional space, the lateral velocity is affected by the lateral hip joint swing.

6. The control method for a hybrid-powered bouncing robot oriented towards slippery surfaces according to claim 1, characterized in that, The method of generating wind force as the robot is about to land to cushion the landing includes: When the robot is in the air and in a pre-set state, the robot's falling speed is measured by the inertial measurement unit. Estimate the ground impact force upon landing Then calculate the wind power required for the propulsion device. Utilizing vertical wind power To provide a buffer upon landing.

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