Abstract
This paper describes the biological observation and kinematic analysis of frog jump modality from three phases, and the use of these data to combine and simplify the frog’s movement. The dynamic simulation based on these data provides the ground reaction forces which aid in robot design. A kind of hindlimb model is put forward, and corresponding jumping leg robot is designed according to trajectory and function of the limb’s main joints. The robot has 5-bar spring/linkage leg and actuated by a DC motor. Its jump ability that studied and compared with frog is proved to be good efficiency. The results of analysis, simplified model and mechanical leg will be employed to develop and control a whole robot capable of mimicking the jumping behavior of the frog.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Raibert, M.H.: Legged Robots that Balanced. MIT, Cambrige (1986)
Birch, M.C., Quinn, R.D., Hahm, G., Philips, S., Drennan, B., File, A., Verma, H., Beer, R.G.: Design of a Cricket Microrobot. In: IEEE International Conference on Robotics and Automation, pp. 1109–1114. IEEE Press, SanFrancisco (2000)
Hyon, S.H., Mita, T.: Development of a Biologically Inspired Hopping Robot-Kenken. In: IEEE International Conference on Robotics and Automation, Washington, DC, pp. 3984–3991 (2002)
Yamakita, M., Omagari, Y., Taniguchi, Y.: Jumping Cat Robot with Kicking a Wall. Journal of the Robotics Society of Japan 6, 934–938 (1994)
Liu, L.Y., Zheng, G.M.: Ordinary Zoology. Higher Education, Beijing (2005) (in Chinese)
Wang, M., Zang, X.Z., Zhao, J.: An Extraction Method of Frog Jumping Trajectory for Biomimetic Robot Design. Journal of Beijing University of Posts and Telecommunications 31, 41–45 (2008) (in Chinese)
Emerson, S.B., Jongh, H.J.: Muscle Activity at the Iliosacral Articulation of Frogs. Journal of Morphology 166, 129–144 (1980)
Emerson, S.B.: Jumping and Leaping. Belknap, Cambridge (1985)
Marsh, R.L., John-Alder, H.B.: Jumping Performance of Hylid Frogs Measured with High-speed Cine Film. Journal of Experimental Biology 188, 131–141 (1994)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Zhao, J., Wang, M., Zang, X., Cai, H. (2008). Biological Characteristics Analysis and Mechanical Jumping Leg Design for Frog Robot. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_114
Download citation
DOI: https://doi.org/10.1007/978-3-540-88513-9_114
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88512-2
Online ISBN: 978-3-540-88513-9
eBook Packages: Computer ScienceComputer Science (R0)