Research on Locomotion Characteristics of a Novel Hopping Robot
Wang Jian
Zhang Wenxiang
Miao Long
Wang Shukun
Abstract：One legged mechanism model of a novel hopping robot is presented.The kinematics equations during stance and flight phases are established and its direct and inverse kinematics characteristics are studied by the D-H method.The expression about the hopped position is given.Dynamic characteristics of the hopping robot are analyzed by Adams software.The simulation results confirm that the horizontal/vertical displacement curves and horizontal/vertical velocity curves are consistent with the experimental ones.The research shows the feasibility of this hopping model and validity of the research method.
Keywords：Hopping robotOne legged modelKinematicsGait analysisDynamic characteristics
Publication Date：2024-02-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：6( 125-130 )