Fig.1

Schematic diagram of robot configuration

Fig.2

Schematic diagram of jumping leg structure

Fig.3

Schematic diagram of straightline jumping leg mechanism

Fig.4

Relationship between Fleg and the force of the torsion springs and tension springs

Fig.5

Schematic diagram of the lunar take-off dynamic model

Fig.6

Discrete element model

Tab.1

Comparison of shear parameters of granular bed and real lunar soil

Fig.7

Speed curves of the bottom plate in the take-off process

Fig.8

Schematic diagram of discrete element simulation experiment

Fig.9

Fitting results of shear simulation experiments

Fig.10

Fitting results of bearing simulation experiments

Tab.2

Mechanical properties of discrete elemental lunar soil

Fig.11

Contact model of the bottom plate and lunar soil

Fig.12

Comparison of the model calculation results and simulation results

Fig.13

Dynamic model of the abstract robot

Fig.14

Coupling simulation of the robot take-off process

Fig.15

Comparison between the calculation results and the coupled simulation results of the dynamic model in the take-off process

Fig.16

Variation of the robot pitch angle in the take-off process

Fig.17

Optimization process of the energy storage solution

Fig.18

Comparison of theoretical results and simulation results of the robot’s lunar take-off dynamics

Fig.19

Flow chart of the motion planning algorithm for accurate jumping to the point

Fig.20

Flow chart of the motion planning algorithm for active buffering on the ground

Fig.21

Results of external forces during active buffering of jumping robots