Name
Abstract | ||
|---|---|---|
Jumping locomotion is an ideal means of overcoming obstacles and traversing rough terrain. By taking inspirations from the locust, this paper presents the development and analysis of a novel crank-slider jumping mechanism. Firstly, the locust morphology is described and the posture of hindlimbs at take-off phase is analyzed. Base on that, a crank-slider mechanism is proposed to mimic the locust hindlimb. The mechanical analysis shows that the ground reaction force is similar to that of the locust during take-off stage, which reduce the possibility of premature lift-off and lays the foundation for developing the small jumping robot. Then, the designed robot employs elastic elements in the crank-slider mechanism, which is triggered by the segment-gear system. At last, its jumping performance is verified by kinematic modeling. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/ROBIO.2012.6491065 | ROBIO |
Field | DocType | ISBN |
Crank,Locust,Kinematics,Jumping,Simulation,Control theory,Control engineering,Ground reaction force,Engineering,Slider,Robot,Traverse | Conference | 978-1-4673-2125-9 |
Citations | PageRank | References |
0 | 0.34 | 7 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kai Zhao | 1 | 0 | 0.34 |
| Junmao Yin | 2 | 0 | 0.34 |
| Dian-Sheng Chen | 3 | 34 | 11.70 |
| Tianmiao Wang | 4 | 322 | 68.45 |