Dynamic Optimization And Design Of One-legged Hopping Robot With Biologically Mimic Kangaroo

The study of the hopping kangaroo robot is an attractive subject in the field of bionics and hopping robot. Because kangaroo's hopping is powerful and relatively simple, the study can be used in outer space explore, military affairs, antiterrorism activity, etc, in the future.First of all, on the base of referring dozens of references of bionic hopping robot home and abroad, this paper summarized the basic theory and current situation of the research on the hopping robot. And the whole hopping process of kangaroo was analyzed in a systematic way. At present bio-robot research mainly concentrated in the wheel (tracked) robot and crawling robot. Compared with these robots, hopping robots can leap relatively large obstacles to locomote on the more complex terrain.Next, on the base of analyzing of bio-robot motion's basic theory and kangaroos' structure and hopping characteristics, the research summarized the limitations of existing one-legged hopping robots, a new model of one-legged hopping kangaroo robot is proposed, It is different from Spring Loaded Inverted Pendulum model, This new hopping robot is actuated by leg, body and tail. The leg part is designed based on elastic passive joint, and it is made of thigh and lower leg. The body part is inertia wheel, the body and the tail are joined the hipbone joint with a hinge. This kind of structure design is simplied greatly for the model. This new hopping robot is drived by two electrical machinery, Such motions of the one-legged robot as balancing in dynamic stance, lifting off, hopping continuously are accomplished by the dynamic coupling of the system. this made the model provided with the better bionics characters.At last, the paper analyzed the dynamic models, and established math optimization model aimed at improving the coupling capability of the robot. After the optimization problem is calculated by Matlab optimization toolbox, the whole mechanical structure of robot is designed, together with a locomotion-assistant crane.The research of this paper will be put forword reference for the next research.