小机器人爬坡易摔倒，新方法通过角度和扭矩调整实现稳定跳跃。
Improved hopping control on slopes for small robots using spring mass modeling
- 用弹簧质量模型分析斜坡导致的着陆失稳机制。
- 调整着陆角度并提前施加小扭矩，消除倾斜地形引发的旋转。
- 算法简单，适合低成本机器人在复杂地形自主行走。
跳跳机器人在斜坡上常因地面倾斜导致着陆时产生意外旋转而失去平衡。本文通过一个简化的弹簧质量模型分析该效应，识别出斜坡引起的冲量如何引发不稳定。为此，提出两种简单改进：根据坡度调整机体着陆角度，并在起飞前施加微小校正扭矩。两者协同可有效抵消倾斜地形带来的非期望旋转，使机器人在陡坡上也能平稳着陆并维持稳定跳跃。该方法无需复杂传感或计算，适用于低成本机器人平台。仿真结果表明，仅需微小的坡度感知调整即可显著提升着陆稳定性，为未来需在山地、废墟等自然环境中运行的自主机器人提供了实用解决方案。
原文摘要 · Abstract (English)
Hopping robots often lose balance on slopes because the tilted ground creates unwanted rotation at landing. This work analyzes that effect using a simple spring mass model and identifies how slope induced impulses destabilize the robot. To address this, we introduce two straightforward fixes, adjusting the bodys touchdown angle based on the slope and applying a small corrective torque before takeoff. Together, these steps effectively cancel the unwanted rotation caused by inclined terrain, allowing the robot to land smoothly and maintain stable hopping even on steep slopes. Moreover, the proposed method remains simple enough to implement on low cost robotic platforms without requiring complex sensing or computation. By combining this analytical model with minimal control actions, this approach provides a practical path toward reliable hopping on uneven terrain. The results from simulation confirm that even small slope aware adjustments can dramatically improve landing stability, making the technique suitable for future autonomous field robots that must navigate natural environments such as hills, rubble, and irregular outdoor landscapes.
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