Posture optimization of the Locust-like hopping robot during the take-off stage

This paper discussed a take-off posture optimization method of the Locust-like Hopping Robot using particle swarm optimization. The kinematic model was first established based on DH method for the locustlike hopping robot, and the mapping relation of robot from the center of mass space to the joint space was obtained. The jumping performance of the hopping robot was evaluated by computing the velocity and force directional manipulability of the hopping robot during the take-off stage, and the joint parameters of the hopping robot were obtained by particle swarm optimization. Simulation results show the optimization method is feasible and effective.