Title :
Kinematics characteristic analysis of the jumping robot
Author_Institution :
Sch. of Mech. Eng., Dalian Jiaotong Univ., Dalian, China
Abstract :
The jumping process of the locusts, Oedaleus infernalis, were captured with a high-speed video camera. The geometrical configurations and motion postures of the locusts during jumping were analyzed, and the jumping parameters of the locusts were gained from the high-speed photographs. The characteristics of the locust during jumping were discussed. The displacement, velocity and acceleration of the centre of mass (COM) of the locust during jumping were analyzed. The performances of the locust-like robot jumping over the obstacle were analyzed. This work may provide the basic theory in developing locust-like robot in structural design. Besides, it provides an important reference to study the other bionic robots.
Keywords :
robot kinematics; velocity control; Oedaleus infernalis; centre of mass; geometrical configurations; jumping robot; kinematics characteristic analysis; motion postures; video camera; Acceleration; Insects; Joints; Kinematics; Leg; Legged locomotion; High-speed photography; Jumping robot; Kinematics characteristic; Locust;
Conference_Titel :
Signal Processing Systems (ICSPS), 2010 2nd International Conference on
Conference_Location :
Dalian
Print_ISBN :
978-1-4244-6892-8
Electronic_ISBN :
978-1-4244-6893-5
DOI :
10.1109/ICSPS.2010.5555598
