Dynamic characteristics of a jumping robot with coordinated quadruped legs

• Published in: Assembly automation Vol. 40; no. 1; pp. 11 - 21
• Main Authors: Zhong, Jun, Ma, Ruqi
• Format: Journal Article
• Language: English
• Published: Bingley Emerald Publishing Limited 18.02.2020; Emerald Group Publishing Limited
• Subjects: Control systems design; Dynamic characteristics; Dynamic models; Energy; Footprints; Hydraulics; Kinematics; Matlab; Motion planning; Posture; Robots; Velocity; Dynamic simulation; Kinematic modeling; Jumping; Coordinated legged robot; Dynamic modeling
• ISSN: 0144-5154; 2754-6969; 1758-4078; 2754-6977
• DOI: 10.1108/AA-10-2018-0154

Purpose Jumping robots with coordinated multiple legs have been a hot research subject during the past years because of their excellent abilities in fast moving and obstacle-climbing. However, dynamics of jumping process of these coordinated legged robots are complex because of collisions between coordinated legs and the ground. This paper aims to analyze features of jumping process and to present the kinematic and dynamic models of a novel sole-type quadruped jumping robot with variable coordinated joints. Design/methodology/approach A complete jumping period of is divided into several subphases according to contact status of different coordinated legs to the ground. Continuous dynamics and discrete dynamics are established in different subphases. Simulations are performed in MATLAB software and ADAMS environment. Findings Comparison between two-set simulated results acquired from ADAMS and MATLAB demonstrates the validity of kinematic and dynamic equations. Originality/value The established dynamics establish the foundation of further research in motion planning and controller design of coordinated multiple legs.