Realization and kinematic analysis of a bionic hopping robot

Inspired by grasshoppers´ and crickets´ hopping characteristics, a bionic cricket hopping robot, with its hinder leg actuated mainly by Shape Memory Alloy (for short: SMA) and capable of realizing its self-righting during its landing and adjusting its hopping angle before hopping, is designed and implemented in this paper, which will enhance the existing hopping robots´ adaptability in increasingly complicated environment. The hopping robot compromises four working circles, i.e. reset, cocking, energy storage and triggering. The bionic hopping robot´s mechanical and and its control system´s design and implementation are presented, and the relevant kinematics analysis of its hopping process is conducted in this paper as well.