Landing impact analysis of a bioinspired intermittent hopping robot with consideration of friction

DOI10.1155/2015/374290MaRDI QIDQ1665514zbMATH OpenOpenAlexWikidataFDO

Authors Long Bai, Wenjie Ge, Xiaohong Chen, Qian Tang, Rong Xiang

Publication date 27 August 2018

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 3.0 Unported

Full work available at URL https://doi.org/10.1155/2015/374290

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Problems involving a system of particles with friction (70F40)

Review text

Summary: Multibody dynamics for the flying and landing oblique impact processes of a bioinspired intermittent hopping robot is derived in this paper by using the impulse-momentum principle. The dynamics model that involves the multibody configuration, mass distribution of the robot, and friction is solved by the linear complementarity conditions in terms of different impact types. The computational and experimental data is compared. And the influence factors of landing impact are analysed as well. Based on the influence rules for landing impact, a technical design of solution is proposed for adjusting the robot's attitude during the jumping and for absorbing the impact energy during the landing. Lessons learned from the theoretical and experimental results have general applicability to the motion prediction, performance analysis, and landing stability study for intermittent hopping robots or other legged robots.

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Cites work

• scientific article; zbMATH DE number 1887333 (Why is no real title available?)
• Rigid-Body Dynamics with Friction and Impact

Cited in

(6)

• Dynamic stability of bio-inspired biped robots for lateral jumping in rugged terrain
• Simulation of motion of a multilink jumping robot and investigation of its characteristics
• Impact forces and agility in legged robot locomotion
• Dynamic model and performance analysis of landing buffer for bionic locust mechanism
• Rebound, slip, and compliance in the modeling and analysis of discrete impacts in legged locomotion
• Design, optimization, and experiment on a bioinspired jumping robot with a six-bar leg mechanism based on jumping stability

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