Kangaroo Robot Jumping Movement Mechanism

The hopping locomotion of kangaroos is an attractive subject for study because it is powerful and relatively simple. So the study of the kangaroo hopping robot can be used in outer space explore, military affairs, antiterrorism activity, etc. It sets the pace in the bionics and jumping robot research field. This paper is mainly concerned with the mechanism of kangaroo hopping and the kinematics of the kangaroo hopping robot.On the base of mastering the foreign research on the kangaroo hopping, we investigate the mechanism of kangaroo hopping. Films of kangaroo's hopping have been analyzed to obtain data about the energetic hopping. The structure, gaits and character of motion are analyzed. The factors account for the energetic hopping and the motion parameters are particularly presented. Then the mechanic model of kangaroo robot is presented. This paper establishes kinematics model during the contact phase and the air phase of the kangaroo hopping. The direct kinematics and inverse kinematics are involved. The hopping law of hip joint, the center of the truck and the toe of kangaroo are presented and discussed. The analytic expressions of joint angle are produced. Based on the thought of differential coefficient movement, we deduce the formula to get the speed of kangaroo robot through the Jacobian matrix.The study work of this paper is the theory foundations of the kinetics, the control of motion and the test of model. Besides, it produces a method to study the other bionic hopping robot.