Title :
Design of a novel frog-inspired hopping leg
Author :
Zhang, Wei ; Fan, Jizhuang ; Cai, Hegao
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
A frog-inspired hopping leg is designed in this paper, and the pneumatic muscle is utilized as the driver. The muscles are bioarticular muscles which can not only increase the range of the joint angle, but also make the robot compliance more similar to real frogs. Kinematics analysis of pneumatic muscles is accomplished, and the experiments of motion simulations based on virtual components are given, as the theoretical basis of further design of the control system.
Keywords :
compliance control; control system synthesis; legged locomotion; pneumatic drives; robot kinematics; bioarticular muscles; control system design; frog-inspired hopping leg design; joint angle; kinematic analysis; motion simulation; pneumatic muscle; robot compliance; virtual components; Force; Hip; Joints; Kinematics; Knee; Muscles; Robots; Bioarticular muscle; Frog-inspired robot; Hopping robot; Pneumatic muscle; kinematics;
Conference_Titel :
Information and Automation (ICIA), 2012 International Conference on
Conference_Location :
Shenyang
Print_ISBN :
978-1-4673-2238-6
Electronic_ISBN :
978-1-4673-2236-2
DOI :
10.1109/ICInfA.2012.6246818
