Design of a bionic saltatorial leg for jumping mini robot

Authors:
Xin Fu;Fei Li;Weiting Liu;Cesare Stefanini;Paolo Dario
Affiliations:
The State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, P.R. China;The State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, P.R. China;The State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, P.R. China;CRIM Lab, Pisa, Italy;CRIM Lab, Pisa, Italy
Venue:
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part I
Year:
2010

Citing 3
Cited 0

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Jumping mini-robot with bio-inspired legs

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Steerable miniature jumping robot

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Abstract

This paper presents a bio-inspired design of an artificial saltatorial leg for a jumping mini robot. By using a rebuilt traditional four-bar linkage mechanism, the artificial saltatorial leg is able to successfully imitate the characteristic of a real jumping insect, kinematically and dynamically. According to the simulation analysis, jumping performance is improved by choosing a better tibia/femur ratio and a proper mass center placement. By means of high speed camera experiment, the jumping characteristic among insect, dynamic model and robot is compared; the dynamic similarity between insect and the robot is shown at last.