能走能跳的机器人的设计与仿真

2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI:10.1109/URAI.2011.6146023

H. Seung, Sangyoon Lee

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引用次数: 2

摘要

本文介绍了一种既能行走又能跳跃的小型有腿机器人的研制。该机器人设计为四条腿，每条腿由两个伺服电机驱动。每条腿有一个由齿轮部分和弹簧部分组成的跳跃部分。我们还报告了机器人的正运动学，用于运动分析。此外，对跳跃和行走的性能进行了计算机模拟。仿真结果表明，在一个周期内，跳跃部分的跳跃高度可达140 mm，机器人可向前移动76 mm。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Design and simulation of a robot that can walk and jump

This paper presents the development of a small legged robot that can both walk and jump. The robot is designed to four legs that are actuated by two servo motors per leg. Each leg has a jumping part that consists of a gear part and a spring part. We also report the forward kinematics of robot for motion analysis. In addition, computer simulation was executed for evaluating the performance of jumping and walking. The simulation results show that the jumping part can jump as high as 140 mm and the robot can move forward 76 mm during one cycle.

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2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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