Enhancing jumping robot performance through arm swing mechanisms

Abstract

This paper investigates the contribution of arm swing mechanisms to jumping robot performance through mathematical modeling, numerical simulation, and experimental validation. While extensive research has demonstrated the significance of arm swing in human and animal jumping biomechanics, this feature remains underutilized in robotic systems. We address three key questions: how coordinated arm swing affects horizontal jumping distance, what optimal arm swing parameters maximize performance, and how these parameters interact with other jumping variables. Our mathematical model incorporating arm dynamics reveals that optimized arm swing can enhance horizontal jumping distance by up to 35% compared to restricted arm configurations. Parametric analysis identifies optimal ranges for key variables: initial body angles of 0.3–0.65 rad, shorter arm swing durations, and specific arm swing amplitudes that do not necessarily correspond to maximum possible ranges. Experimental validation with our physical prototype achieved a 10% improvement in jumping distance, demonstrating the practical feasibility of this approach despite real-world constraints. These findings advance our understanding of arm-assisted jumping mechanisms and establish design principles for developing legged robots with extended mobility in critical environments.