Motion mechanism and simulation of the human jumping robot

The jumping procedure of the human was captured with a high-speed video camera. The geometrical configurations and motion postures of the human during jumping were analyzed from the high-speed photographs. By biological observation and kinematic analysis, the human jump was divided into stance phase, flight phase and land phase. Based on the observation, the human jump was simplified and a mechanical model was put forward. The velocity and the torque of the hip joint, knee joint and ankle joint of the limb were analyzed. It was shown that the changes of hip joint angle were more remarkable, which provided the driving force for the body. The results would provide some theoretical and practical references for biomimetic design for improving the reasonable motion of the jumping robot. This work may provide the basic theory in developing human jumping robot in structural design. Besides, it provides an important reference to study the other bionic robots.