Design of Motion Control System for Frog-Inspired Bionic Hopping Robot

Abstract

The discrete landing position and the sudden and explosive manner of take off of the hopping movement endow the hopping robot with a strong capability to overcome obstacles and to adapt to various environments. Based on the principle of bionics and imitation of a frog, a new type of bionic hopping robot is presented in this paper. The robot is driven by two elastic telescopic hind legs and adjusted by two electric front legs to realize the dynamic take-off and stable continuous jumping. In this paper, the structure of a hopping robot is discussed, and the control system composed of host computer and embedded main controller is designed and studied experimentally. The jumping experiments verify that the robot has a satisfactory hopping capability by adjusting jumping attitude to meet different distance requirements with a stable landing. This study is valuable for designing the next-stage hopping robot and exploring its application in complex terrain.