A Bionic Hopping Mechanism for Over-obstacle

摘要：

A geared 5-bar spring/linkage mechanism used for hopping robot is investigated based on the analysis of over-obstacle performance, and the mechanism is able to adjust the energy stored in spring for hopping. The impact of structure parameters on over-obstacle performance is also investigated. The gait of robot in a hopping cycle is analyzed as the action sequence which includes attitude adjustment phase, energy storage phase, take-off phase, flight phase, landing and pose reset phase. The feasibility of the hopping mechanism is verified by numerical simulations in which the force that acts on robot is also considered.

关键词： Bionic Hopping Mechanism Adjustable Energy Over-obstacle Gait Analysis

作者: Hui Chai Wen-Jie Ge Dun-Wen Wei Long Bai

作者单位: School of Mechatronics of Northwestern Polytechnical University,Shaanxi,P.R.China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 380-385

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）