Biological Characteristics Analysis and Mechanical Jumping Leg Design for Frog Robot

摘要

This paper describes the biological observation and kinematic analysis of frog jump modality from three phases, and the use of these data to combine and simplify the frog's movement. The dynamic simulation based on these data provides the ground reaction forces which aid in robot design. A kind of hindlimb model is put forward, and corresponding jumping leg robot is designed according to trajectory and function of the limb's main joints. The robot has 5-bar spring/linkage leg and actuated by a DC motor. Its jump ability that studied and compared with frog is proved to be good efficiency. The results of analysis, simplified model and mechanical leg will be employed to develop and control a whole robot capable of mimicking the jumping behavior of the frog.