Title :
A bionic hopping mechanism for over-obstacle
Author :
Chai, Hui ; Ge, Wen-jie ; Wei, Dun-Wen ; Bai, Long
Author_Institution :
Sch. of Mechatron., Northwestern Polytech. Univ., Xi´´an, China
Abstract :
A geared 5-bar spring/linkage mechanism used for hopping robot is investigated based on the analysis of over-obstacle performance, and the mechanism is able to adjust the energy stored in spring for hopping. The impact of structure parameters on over-obstacle performance is also investigated. The gait of robot in a hopping cycle is analyzed as the action sequence which includes attitude adjustment phase, energy storage phase, take-off phase, flight phase, landing and pose reset phase. The feasibility of the hopping mechanism is verified by numerical simulations in which the force that acts on robot is also considered.
Keywords :
biocybernetics; collision avoidance; mobile robots; numerical analysis; bionic hopping mechanism; energy storage; geared five-bar linkage mechanism; geared five-bar spring mechanism; hopping robot; numerical simulations; over-obstacle; Bars; Couplings; Fasteners; Hydraulic actuators; Joints; Performance analysis; Pneumatic actuators; Prototypes; Robots; Springs; Adjustable Energy; Bionic Hopping Mechanism; Gait Analysis; Over-obstacle;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420676
