Abstract
This paper presents a bio-inspired design of an artificial saltatorial leg for a jumping mini robot. By using a rebuilt traditional four-bar linkage mechanism, the artificial saltatorial leg is able to successfully imitate the characteristic of a real jumping insect, kinematically and dynamically. According to the simulation analysis, jumping performance is improved by choosing a better tibia/femur ratio and a proper mass center placement. By means of high speed camera experiment, the jumping characteristic among insect, dynamic model and robot is compared; the dynamic similarity between insect and the robot is shown at last. © 2010 Springer-Verlag.
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Fu, X., Li, F., Liu, W., Stefanini, C., & Dario, P. (2010). Design of a bionic saltatorial leg for jumping mini robot. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 6424 LNAI, pp. 477–487). https://doi.org/10.1007/978-3-642-16584-9_46
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