This paper describes design, simulation, and experiments of a mesoscale quadruped robot that can locomote by crawling and jumping. The robot has the length of 14 cm and the weight of 188 g. The robot is designed to perform crawling and jumping for the hybrid locomotion. The robot uses eight micro servo motors for crawling and four DC motors for jumping. The design has been validated by simulation and experiments. The experiments consist of three basic motions: crawling with steering, consecutive jumping, and combined motion of crawling and jumping. The simulation result shows that crawling speed of 1.62 cm/sec, jumping height of 7.2 cm, and jumping distance of 7.1 cm. The experimental results show that 91% of the simulation result for crawling and 77% for jumping.
展开▼
机译：本文介绍了可以通过爬行和跳跃运动的中尺度四足机器人的设计，仿真和实验。该机器人的长度为14厘米，重量为188克。该机器人被设计为执行混合运动的爬行和跳跃。该机器人使用8个微型伺服电机进行爬行，并使用4个DC电机进行跳跃。该设计已通过仿真和实验验证。实验包括三个基本动作：带方向盘爬行，连续跳跃以及爬行和跳跃的组合动作。仿真结果表明，爬行速度为1.62 cm / sec，跳跃高度为7.2 cm，跳跃距离为7.1 cm。实验结果表明，爬行的仿真结果为91％，跳跃的仿真结果为77％。
展开▼
