Wheel-legged Robot Jumping Optimization — Dynamics Parameter Study

Role: Experiment design & data analysis

• Testbed: designed a modular leg test bench to study reduction ratio and nitrogen-spring pressure.
• Optimization: ran controlled-variable experiments across drivetrain ratios and preload (9–17 MPa), collecting speed and trajectory data.
• Analysis: balanced motor torque vs. tip velocity to determine the optimal 15/19 ratio and 15 MPa operating point.