A Bio-Inspired Hopping Kangaroo Robot with an Active Tail
A Bio-Inspired Hopping Kangaroo Robot with an Active Tail作者机构：Department of Mechanical Engineering National Taiwan University Taipei 106 Taiwan
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2014年第11卷第4期
页 面：541-555页
核心收录：
学科分类：0710[理学-生物学] 07[理学] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 071002[理学-动物学]
基 金：The authors would like to thank Chun-Kai Huang for discussing the development issues in mathematical modeling sensor developing and programming. This work is supported by National Science Council (NSC) Taiwan under contract NSC 100-2628-E-002-021-MY3
主 题：legged robot kangaroo hopping SLIP tail
摘 要：Inspired by kangaroo＇s locomotion, we report on developing a kangaroo-style hopping robot. Unlike bipeds, quadrupeds, or hexapods which altemate the legs for forward locomotion, the kangaroo uses both legs synchronously and generates the forward locomotion by continuous hopping behavior, and the tail actively balances the unwanted angular momentum generated by the leg motion. In this work, we generate the Center of Mass （CoM） locomotion of the robot based on the reduced-order Rolling Spring Loaded Inverted Pendulum （R-SLIP） model, for matching the dynamic behavior of the empirical robot legs. In order to compensate the possible body pitch variation, the robot is equipped with an active tail for pitch variation compensation, emulating the balance mechanism of a kangaroo. The robot is empirically built, and various design issues and strategies are addressed. Finally, the experimental evaluation is executed to validate the performance of the kangaroo-style robot with hopping locomotion.
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