Jumping Control for a Quadrupedal Wheeled-Legged Robot via NMPC and DE Optimization
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arXiv
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| Auteurs principaux: | , , , , , , |
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| Format: | Preprint |
| Publié: |
2026
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| _version_ | 1866914350234599424 |
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| author | Zeng, Xuanqi Zhang, Lingwei Yue, Linzhu Song, Zhitao Zhang, Hongbo Zhang, Tianlin Liu, Yun-Hui |
| author_facet | Zeng, Xuanqi Zhang, Lingwei Yue, Linzhu Song, Zhitao Zhang, Hongbo Zhang, Tianlin Liu, Yun-Hui |
| contents | Quadrupedal wheeled-legged robots combine the advantages of legged and wheeled locomotion to achieve superior mobility, but executing dynamic jumps remains a significant challenge due to the additional degrees of freedom introduced by wheeled legs. This paper develops a mini-sized wheeled-legged robot for agile motion and presents a novel motion control framework that integrates the Nonlinear Model Predictive Control (NMPC) for locomotion and the Differential Evolution (DE) based trajectory optimization for jumping in quadrupedal wheeled-legged robots. The proposed controller utilizes wheel motion and locomotion to enhance jumping performance, achieving versatile maneuvers such as vertical jumping, forward jumping, and backflips. Extensive simulations and real-world experiments validate the effectiveness of the framework, demonstrating a forward jump over a 0.12 m obstacle and a vertical jump reaching 0.5 m. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_21612 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Jumping Control for a Quadrupedal Wheeled-Legged Robot via NMPC and DE Optimization Zeng, Xuanqi Zhang, Lingwei Yue, Linzhu Song, Zhitao Zhang, Hongbo Zhang, Tianlin Liu, Yun-Hui Robotics Quadrupedal wheeled-legged robots combine the advantages of legged and wheeled locomotion to achieve superior mobility, but executing dynamic jumps remains a significant challenge due to the additional degrees of freedom introduced by wheeled legs. This paper develops a mini-sized wheeled-legged robot for agile motion and presents a novel motion control framework that integrates the Nonlinear Model Predictive Control (NMPC) for locomotion and the Differential Evolution (DE) based trajectory optimization for jumping in quadrupedal wheeled-legged robots. The proposed controller utilizes wheel motion and locomotion to enhance jumping performance, achieving versatile maneuvers such as vertical jumping, forward jumping, and backflips. Extensive simulations and real-world experiments validate the effectiveness of the framework, demonstrating a forward jump over a 0.12 m obstacle and a vertical jump reaching 0.5 m. |
| title | Jumping Control for a Quadrupedal Wheeled-Legged Robot via NMPC and DE Optimization |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.21612 |