Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

Torsional Pendulum01:09

Torsional Pendulum

5.2K
A torsional pendulum involves the oscillation of a rigid body in which the restoring force is provided by the torsion in the string from which the rigid body is suspended. Ideally, the string should be massless; practically, its mass is much smaller than the rigid body's mass and is neglected.
As long as the rigid body's angular displacement is small, its oscillation can be modeled as a linear angular oscillation. The amplitude of the oscillation is an angle. The role of mass is played...
5.2K

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

A Reactive Synchronized Motion Controller for Dual-Arm Cooperation with Closed-Chain Constraints.

Biomimetics (Basel, Switzerland)·2026
Same author

An Error-Adaptive Competition-Based Inverse Kinematics Approach for Bimanual Trajectory Tracking of Humanoid Upper-Limb Robots.

Biomimetics (Basel, Switzerland)·2026
Same author

Human-Inspired Holistic Control for Mobile Humanoid Robots.

Biomimetics (Basel, Switzerland)·2026
Same author

Cam-Based Simple Design of Constant-Force Suspension Backpack to Isolate Dynamic Load.

Biomimetics (Basel, Switzerland)·2025
Same author

Design of a Humanoid Upper-Body Robot and Trajectory Tracking Control via ZNN with a Matrix Derivative Observer.

Biomimetics (Basel, Switzerland)·2025
Same author

A Gait Sub-Phase Switching-Based Active Training Control Strategy and Its Application in a Novel Rehabilitation Robot.

Biosensors·2025
Same journal

Multiphysics Investigation on Thermal Characteristics of Internal Bio-Inspired V-Ribbed Cooling Channels for Outer Rotor PMSM.

Biomimetics (Basel, Switzerland)·2026
Same journal

Smart Logistics Model for Supply Chain Management via Brain-Inspired Geometric Deep Networks.

Biomimetics (Basel, Switzerland)·2026
Same journal

A Systematic Taxonomy of the Sunflower Optimization Algorithm: Variants, Hybridization Strategies, Applications, and Research Directions.

Biomimetics (Basel, Switzerland)·2026
Same journal

Toward a Compositional Theory of Trust in Embodied Intelligence: A QNLP Framework for Modeling Context, Interaction, and Trustworthiness.

Biomimetics (Basel, Switzerland)·2026
Same journal

Empirical Logic for Bio-Inspired Soft Computing: Illustrative Applications in Control Engineering and Cluster Analysis.

Biomimetics (Basel, Switzerland)·2026
Same journal

A Modified Multi-Strategy Dhole Optimization Algorithm and Its Engineering Applications.

Biomimetics (Basel, Switzerland)·2026
See all related articles

Related Experiment Video

Updated: May 10, 2025

Simulation of Human-induced Vibrations Based on the Characterized In-field Pedestrian Behavior
10:52

Simulation of Human-induced Vibrations Based on the Characterized In-field Pedestrian Behavior

Published on: April 13, 2016

8.7K

Jump Control Based on Nonlinear Wheel-Spring-Loaded Inverted Pendulum Model: Validation of a Wheeled-Bipedal Robot

Jingsong Gao1, Hongzhe Jin1, Liang Gao1

  • 1School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150080, China.

Biomimetics (Basel, Switzerland)
|April 25, 2025
PubMed
Summary
This summary is machine-generated.

This study introduces an optimized virtual model and trajectory planning for wheeled-bipedal robots (WBRs), significantly increasing jump height and stability. The new method ensures real-time execution on physical robots, overcoming limitations of previous approaches.

Keywords:
jump controlnonlinear springtrajectory planningwheeled-bipedal robot

More Related Videos

Experimental Methods to Study Human Postural Control
08:12

Experimental Methods to Study Human Postural Control

Published on: September 11, 2019

9.4K
Oscillation and Reaction Board Techniques for Estimating Inertial Properties of a Below-knee Prosthesis
08:08

Oscillation and Reaction Board Techniques for Estimating Inertial Properties of a Below-knee Prosthesis

Published on: May 8, 2014

16.7K

Related Experiment Videos

Last Updated: May 10, 2025

Simulation of Human-induced Vibrations Based on the Characterized In-field Pedestrian Behavior
10:52

Simulation of Human-induced Vibrations Based on the Characterized In-field Pedestrian Behavior

Published on: April 13, 2016

8.7K
Experimental Methods to Study Human Postural Control
08:12

Experimental Methods to Study Human Postural Control

Published on: September 11, 2019

9.4K
Oscillation and Reaction Board Techniques for Estimating Inertial Properties of a Below-knee Prosthesis
08:08

Oscillation and Reaction Board Techniques for Estimating Inertial Properties of a Below-knee Prosthesis

Published on: May 8, 2014

16.7K

Area of Science:

  • Robotics
  • Mechanical Engineering
  • Control Systems

Background:

  • Wheeled-bipedal robots (WBRs) require robust jumping capabilities for navigating unstructured environments.
  • Existing trajectory planning methods for WBRs are computationally intensive and limit experimental validation due to high joint output demands.
  • Balancing computational load with trajectory tracking performance remains a key challenge for WBR jump control.

Purpose of the Study:

  • To develop an optimized virtual model, trajectory planning strategy, and control method for enhancing WBR jump height and stability.
  • To enable real-time execution of jump trajectories on physical robotic platforms.
  • To improve the environmental adaptability of WBRs through advanced jumping capabilities.

Main Methods:

  • Proposed a Nonlinear Wheel-Spring-Loaded Inverted Pendulum (NW-SLIP) model for virtual trajectory planning, inspired by human jumping.
  • Utilized Quadratic Programming (QP) and a bisection method to optimize jump trajectories based on cost functions derived from the NW-SLIP model.
  • Integrated a leg statics model with a kinematics model to map the virtual model to joint space, bypassing complex dynamics calculations.

Main Results:

  • Achieved a 3.4 times increase in jump height compared to linear spring models using the NW-SLIP model.
  • Increased maximum jump height by 21.5% while reducing peak joint torque by 14% through trajectory optimization.
  • Demonstrated improved trajectory tracking performance, jump consistency, and stability in simulations and real-world experiments.

Conclusions:

  • The proposed NW-SLIP model and optimization strategy significantly enhance WBR jumping performance.
  • The developed method effectively balances computational load and trajectory tracking, facilitating practical implementation on physical robots.
  • The validated approach offers a feasible and effective solution for improving WBR navigation in challenging terrains.