Hopping capabilities of a bio-inspired and mininally actuated hopping robot

Motivated by jumping configuration of kangaroo and force transforming characteristics of geared six-bar mechanism, a small and minimally actuated intermittent jumping or hopping robot that is equipped with a nonsymmetrical geared six-bar linkage as hopping mechanism is proposed. The characteristics of driving force, driving torque of actuator, and mechanical energy conversion efficiency of the robot are analyzed. And simulation and experimental prototype are conducted as well. Analysis and experimental results show that the bio-inspired hopping robot that uses a single micro-motor as driving actuator can transform the linear force of spring to the nonlinear driving force of hopping motion, realize a 70% mechanical energy conversion efficiency, and typically jump a horizontal distance of 1.6-1.75m and a vertical height of 0.3~0.45m.