Research and Optimization Design of Mechanism for Theo Jansen Bionic Leg

Abstract

Through the performance test of the small biomimetic robot prototype which is developed with the standard Theo Jansen bionic leg (Jansen-leg) mechanism, finding that it has some deficiencies, such as single foot motion trajectory and poor terrain adaptability, for which system optimization and innovation design is researched. As a theoretical analysis basis for optimizing the dynamic kinematics change point, the kinematic modeling of the standard Jansen-leg is established based on the bilateral distance measurement equations. Some novel gait patterns is got which can be used for digitigrades locomotion, obstacle avoidance, walking on mud and climbing by using the reconfigurable optimizing design approach. The innovative design of Jansen-leg mechanism is completed while inherited its advantages, inspired by the process and the results of optimizing design. The new Jansen-leg mechanism is not only has a better obstacle resistance, better ability of crossings irregular terrains and diverse foot motion trajectory patterns, but also with simple control, good coordination of the articulation and many other advantages. It also improves its adaptability of the unstructured terrain environment and expanding the application scope.