DocumentCode
3244825
Title
Design and simulation of a robot that can walk and jump
Author
Seung, Hyunsoo ; Lee, Sangyoon
Author_Institution
Dept. of Mech. Design & Production Eng., Konkuk Univ., Seoul, South Korea
fYear
2011
fDate
23-26 Nov. 2011
Firstpage
800
Lastpage
801
Abstract
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.
Keywords
design engineering; digital simulation; gears; legged locomotion; mechanical engineering computing; robot kinematics; servomotors; springs (mechanical); computer simulation; design; gears; legged robots; robot forward kinematics; robot jumping motion; robot walking motion; servomotors; springs; Gears; Joints; Kinematics; Legged locomotion; Servomotors; Springs; biomimetics; jumping robot; legged robot; locomotion;
fLanguage
English
Publisher
ieee
Conference_Titel
Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on
Conference_Location
Incheon
Print_ISBN
978-1-4577-0722-3
Type
conf
DOI
10.1109/URAI.2011.6146023
Filename
6146023
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