{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,6]],"date-time":"2025-11-06T11:44:29Z","timestamp":1762429469707,"version":"build-2065373602"},"reference-count":34,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T00:00:00Z","timestamp":1617235200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Key-Area Research and Development Program of Guangdong Province","award":["2019B090915001"],"award-info":[{"award-number":["2019B090915001"]}]},{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2017YFB1302200"],"award-info":[{"award-number":["2017YFB1302200"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100017622","name":"Shenzhen Research and Development Program of China","doi-asserted-by":"publisher","award":["JSGG20180504170011639, JCYJ20200109112818703"],"award-info":[{"award-number":["JSGG20180504170011639, JCYJ20200109112818703"]}],"id":[{"id":"10.13039\/501100017622","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this study, we demonstrated a novel jumping robot that has the ability of accurate obstacle-crossing jumping and aerial pitch control. The novel robot can quickly leap high into the air with a powerful water jet thruster. The robot was designed to overcome multiple general obstacles via accurate jumping. Then a modified whale optimization algorithm (MWOA) was proposed to determine an optimized jumping trajectory according to the form of obstacles. By comparing with classical intelligent optimization algorithms, the MWOA revealed superiority in convergence rate and precision. Besides, the dynamics model of aerial pitch control was built and its effect was verified by the pitch control experiment. Lastly, the robot\u2019s obstacle-crossing experiments were performed and the results validated the robot\u2019s good ability of obstacle-crossing and aerial body righting. We believe the optimization of trajectory and the pitch control are of great help for the jumping robot\u2019s complex jumping and obstacle-crossing performance.<\/jats:p>","DOI":"10.3390\/s21072432","type":"journal-article","created":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T10:44:01Z","timestamp":1617273841000},"page":"2432","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Study of Obstacle-Crossing and Pitch Control Characteristic of a Novel Jumping Robot"],"prefix":"10.3390","volume":"21","author":[{"given":"Jixue","family":"Mo","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"},{"name":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518052, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ze","family":"Yan","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518052, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bing","family":"Li","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"},{"name":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518052, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fengfeng","family":"Xi","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518052, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yao","family":"Li","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"},{"name":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518052, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,4,1]]},"reference":[{"key":"ref_1","unstructured":"Alexander, R.M.N. 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