Structure analysis of hydraulic jumping robot

This paper focuses on the design of a new hydraulic jumping robot. This robot platform has four legs and can execute some highly dynamic tasks, like walking, trotting, galloping and especially jumping. Hydraulic actuators have been chosen to drive active joints in order to meet the performance requirements of the robot for torque, compactness, velocity, impact resistance and control bandwidth. The main research work aims at the design of robot structure, descriptions of geometry relationships, parameters selection and implementation of jumping movement. The evaluations and analyses of the robot have finished based on the simulation results using AMESim software. These simulation analyses will greatly promote the later research work.