Jumping motion control planning for 4-wheeled robot with a tail

The planning method of jumping for a 4-wheeled robot with a flexible tail is proposed in this paper. The robot can reach an aerial target position and attitude by using an input which this method plans. Generally, a 4-wheeled robot cannot move in a rough terrain due to the pit. To overcome that problem, we propose a method of jumping for a 4-wheeled robot by using its tail, which is inspired by the concept of tails in animals. In addition, the proposed method widens the area where the robot can work. The proposed planning method is confirmed by simulations and shown that the robot reaches to the target position and attitude.