The whole problem is roughly about the upper limit of the long jump that a robotic dog can achieve under certain constraints with the optimal jumping strategy.

Overview: Simulation of the theoretical limit of the long jump of a quadruped robot based on model algorithms (any specific type is fine, such as MPC \WBC \SLIP, etc.), that is, a method based on model theory is needed to solve for the performance upper limit of how far a robotic dog can jump at most under given constraints.