Biological Jumping Mechanism Analysis and Modeling for Frog Robot  

作　　者：Meng Wang Xi-zhe Zang Ji-zhuang Fan Jie Zhao 

机构地区：[1]State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, P. R. China

出　　处：《Journal of Bionic Engineering》2008年第3期181-188,共8页仿生工程学报（英文版）

基　　金：the National High Technology Research and Development Program of China (No.2006AA04Z245);Program for Changjiang Scholars and Innovative Research Team in University (PCSIRT) (IRT0423)

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

关 键 词：frog jump modality kinematic analysis mechanical model jumping robot 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]