Biological Jumping Mechanism Analysis and Modeling for Frog Robot

作者: Meng Wang , Xi-zhe Zang , Ji-zhuang Fan , Jie Zhao

DOI: 10.1016/S1672-6529(08)60023-2

关键词: Linkage (mechanical)Mechanism (engineering)JumpKinematicsSimulationEngineeringRobotGround reaction forceJumpingRobot legBiotechnologyBiophysicsBioengineering

摘要: This paper presents a mechanical model of jumping robot based on the biological mechanism analysis frog. By observation and kinematic frog jump is divided into take-off phase, aerial phase landing phase. We find similar trajectories hindlimb joints during jump, important effect foot role forelimb in supporting body. Based observation, simplified put forward. The leg represented by 4-bar spring/linkage model, which has three Degrees Freedom (DOF) at hip joint one DOF (passive) tarsometatarsal foot. shoulder elbow each for balancing function arm. ground reaction force analyzed compared with that take-off. results show same advantages low likelihood premature lift-off high efficiency as Analysis can be employed to develop control capable mimicking behavior

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