{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,14]],"date-time":"2026-01-14T16:37:17Z","timestamp":1768408637335,"version":"3.49.0"},"reference-count":26,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2018,9,17]],"date-time":"2018-09-17T00:00:00Z","timestamp":1537142400000},"content-version":"vor","delay-in-days":259,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100004608","name":"Natural Science Foundation of Jiangsu Province","doi-asserted-by":"publisher","award":["BK20170301"],"award-info":[{"award-number":["BK20170301"]}],"id":[{"id":"10.13039\/501100004608","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Complexity"],"published-print":{"date-parts":[[2018,1]]},"abstract":"<jats:p>The jumping robot has been a hot research field due to its prominent obstacle\u2010climbing ability and excellent capacity in terrain adaptation and autonomous movement. However, huge impact between the robot and the ground when landing may cause structure damage, unbalanced movement, and even system crash. Therefore, trajectory planning of the jumping process has been a great challenge in robotic research, especially for the robot with varying underactuated and redundant joints. An intermittent jumping quadruped robot driven by pneumatic muscle actuators (PMAs) and owning variable redundant and underactuated joints designed in a previous study is taken as the study object. This paper divides the problem of trajectory planning into trajectory planning in the centroid space and joint space. Trajectory planning of different jumping phases in the centroid space adopts the scheme of minimizing the peak reaction force from the ground, then trajectory planning of the joint space is performed obeying the principle of minimizing consumed active torques. A jumping experiment is performed and validates the effectiveness of the proposed trajectory algorithm.<\/jats:p>","DOI":"10.1155\/2018\/5369427","type":"journal-article","created":{"date-parts":[[2018,9,18]],"date-time":"2018-09-18T06:33:11Z","timestamp":1537252391000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Trajectory Planning of an Intermittent Jumping Quadruped Robot with Variable Redundant and Underactuated Joints"],"prefix":"10.1155","volume":"2018","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9942-3833","authenticated-orcid":false,"given":"Jun","family":"Zhong","sequence":"first","affiliation":[]},{"given":"Minzhou","family":"Luo","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4527-932X","authenticated-orcid":false,"given":"Jizhuang","family":"Fan","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6086-9387","authenticated-orcid":false,"given":"Jie","family":"Zhao","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2018,9,17]]},"reference":[{"key":"e_1_2_9_1_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12206-011-0918-6"},{"key":"e_1_2_9_2_2","doi-asserted-by":"crossref","unstructured":"WanX. UrakuboT. andTadaY. Landing motion of a legged robot with impact force reduction and joint torque minimization 2013 Second International Conference on Robot Vision and Signal Processing 2013 Kitakyushu Japan 259\u2013264 https:\/\/doi.org\/10.1109\/rvsp.2013.65 2-s2.0-84903637337.","DOI":"10.1109\/RVSP.2013.65"},{"key":"e_1_2_9_3_2","doi-asserted-by":"crossref","unstructured":"UgurluB.andKawamuraA. Real-time running and jumping pattern generation for bipedal robots based on ZMP and Euler\u2019s equations 2009 IEEE\/RSJ International Conference on Intelligent Robots and Systems 2009 St. Louis MO USA 1100\u20131105 https:\/\/doi.org\/10.1109\/iros.2009.5354461 2-s2.0-76249098897.","DOI":"10.1109\/IROS.2009.5354461"},{"key":"e_1_2_9_4_2","article-title":"Single leg vertical hopping gait planning for hydraulic quadruped robot","volume":"5","author":"Bingwei G.","year":"2017","journal-title":"Chinese Journal of Scientific Instrument"},{"key":"e_1_2_9_5_2","first-page":"4","article-title":"Dynamics modeling and obstacle-navigation control of a two-wheel robot with jumping ability","volume":"26","author":"Xiao H.","year":"2013","journal-title":"Development & Innovation of Machinery & Electrical Products"},{"key":"e_1_2_9_6_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/9\/3\/036004"},{"key":"e_1_2_9_7_2","first-page":"341","article-title":"Take-off task planning and control for bionic frog jumping robot","volume":"30","author":"Sheng-Hai H. U.","year":"2013","journal-title":"Computer Simulation"},{"key":"e_1_2_9_8_2","first-page":"25","article-title":"Analysis of motion planning and take-off mechanism for a multi-joint jumping robot","volume":"39","author":"Deng K.","year":"2012","journal-title":"Applied Science and Technology"},{"key":"e_1_2_9_9_2","doi-asserted-by":"crossref","unstructured":"JingF. QiY. QiangY. andYangC. An on-line robot trajectory planning algorithm in joint space with continuous accelerations International Conference on Advanced Technology of Design and Manufacture (ATDM 2010) 2010 Beijing China 372\u2013377 https:\/\/doi.org\/10.1049\/cp.2010.1326 2-s2.0-84862951044.","DOI":"10.1049\/cp.2010.1326"},{"key":"e_1_2_9_10_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-014-1449-3"},{"key":"e_1_2_9_11_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12206-015-0309-5"},{"key":"e_1_2_9_12_2","doi-asserted-by":"publisher","DOI":"10.1590\/S1678-58782008000400009"},{"key":"e_1_2_9_13_2","doi-asserted-by":"crossref","unstructured":"HeerdenK. V.andKawamuraA. Towards integrated walking and jumping motion planning in complex environments: jumping trajectory generation 2012 12th IEEE International Workshop on Advanced Motion Control (AMC) 2012 Sarajevo Bosnia-Herzegovina 1\u20136 https:\/\/doi.org\/10.1109\/amc.2012.6197122 2-s2.0-84861624865.","DOI":"10.1109\/AMC.2012.6197122"},{"key":"e_1_2_9_14_2","doi-asserted-by":"crossref","unstructured":"KawamuraA.andHeerdenK. V. Maintaining floor-foot contact of a biped robot by force constraint position control 2011 IEEE International Conference on Mechatronics 2011 Istanbul Turkey 857\u2013862 https:\/\/doi.org\/10.1109\/icmech.2011.5971234 2-s2.0-80052143029.","DOI":"10.1109\/ICMECH.2011.5971234"},{"key":"e_1_2_9_15_2","unstructured":"AversaD. SardinaS. andVassosS. Path planning with inventory-driven Jump-Point-Search Proceedings of the AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment (AIIDE) 2015 Santa Cruz CA USA 14\u201318."},{"key":"e_1_2_9_16_2","doi-asserted-by":"crossref","unstructured":"LakatosD. SeidelD. FriedlW. andAlbu-SchafferA. Targeted jumping of compliantly actuated hoppers based on discrete planning and switching control 2015 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) 2015 Hamburg Germany 5802\u20135808 https:\/\/doi.org\/10.1109\/iros.2015.7354201 2-s2.0-84958159468.","DOI":"10.1109\/IROS.2015.7354201"},{"key":"e_1_2_9_17_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2017.2676022"},{"key":"e_1_2_9_18_2","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-4563(200005)17:5<233::AID-ROB1>3.0.CO;2-Y"},{"key":"e_1_2_9_19_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2012.08.002"},{"key":"e_1_2_9_20_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2011.2160510"},{"key":"e_1_2_9_21_2","first-page":"263","article-title":"An obstacle avoidance trajectory planning scheme for space manipulators based on genetic algorithm","volume":"36","author":"Qi R.","year":"2014","journal-title":"Robot"},{"key":"e_1_2_9_22_2","doi-asserted-by":"publisher","DOI":"10.3390\/app8020231"},{"key":"e_1_2_9_23_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10236-014-0757-y"},{"key":"e_1_2_9_24_2","volume-title":"Research on Frog-Inspired Biomimetic Jumping Robot Actuated by Pneumatic Muscles and its Key Technologies","author":"Zhong J.","year":"2015"},{"key":"e_1_2_9_25_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2009.2032439"},{"key":"e_1_2_9_26_2","first-page":"35","article-title":"Research on landing stability of hopping robot considering flexible joint","volume":"30","author":"Chen P. W.","year":"2013","journal-title":"Journal of Machine Design"}],"container-title":["Complexity"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2018\/5369427.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2018\/5369427.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1155\/2018\/5369427","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,8]],"date-time":"2024-08-08T22:40:12Z","timestamp":1723156812000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1155\/2018\/5369427"}},"subtitle":[],"editor":[{"given":"Andy","family":"Annamalai","sequence":"additional","affiliation":[]}],"short-title":[],"issued":{"date-parts":[[2018,1]]},"references-count":26,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2018,1]]}},"alternative-id":["10.1155\/2018\/5369427"],"URL":"https:\/\/doi.org\/10.1155\/2018\/5369427","archive":["Portico"],"relation":{},"ISSN":["1076-2787","1099-0526"],"issn-type":[{"value":"1076-2787","type":"print"},{"value":"1099-0526","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,1]]},"assertion":[{"value":"2018-03-21","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2018-06-19","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2018-09-17","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"5369427"}}