Biological Jumping Mechanism Analysis and Modeling for Frog Robot

Kong

et al. 2017

Chin. J. Mech. Eng.

Self Cite

Pneumatic muscles with similar characteristics to biological muscles have been widely used in robots, and thus are promising drivers for frog inspired robots. However, the application and nonlinearity of the pneumatic system limit the advance. On the basis of the swimming mechanism of the frog, a frog-inspired robot based on pneumatic muscles is developed. To realize the independent tasks by the robot, a pneumatic system with internal chambers, micro air pump, and valves is implemented. The micro pump is used to maintain the pressure difference between the source and exhaust chambers. The pneumatic muscles are controlled by high-speed switch valves which can reduce the robot cost, volume, and mass. A dynamic model of the pneumatic system is established for the simulation to estimate the system, including the chamber, muscle, and pneumatic circuit models. The robot design is verified by the robot swimming experiments and the dynamic model is verified through the experiments and simulations of the pneumatic system. The simulation results are compared to analyze the functions of the source pressure, internal volume of the muscle, and circuit flow rate which is proved the main factor that limits the response of muscle pressure. The proposed research provides the application of the pneumatic muscles in the frog inspired robot and the pneumatic model to study muscle controller.

Section: Introductionmentioning

confidence: 99%

Design and Dynamic Model of a Frog-inspired Swimming Robot Powered by Pneumatic Muscles

Fan

Kong

et al. 2017

Chin. J. Mech. Eng.

Self Cite

“…1 The thrust estimation is the basis to derive motion equation, performance evaluation, and control strategy. The generation mechanism and thrust estimation in propulsion 2,3 are key problems for further tasks in the design of mechanical structure and control system. Several researchers proposed their methods to calculate frogs' hydrodynamic propulsion.…”

Section: Introductionmentioning

confidence: 99%

Research on propulsion generation mechanism of frog swimming

Fan

Advances in Mechanical Engineering

Yuan

et al. 2017

Estimate of the hydrodynamic force exerting on the frog is a key factor in design of mechanical structure and control system. To research propulsion generation mechanism during frog swimming, computational fluid dynamics-based method was performed. From the propulsive force results, drag and lift components of hydrodynamic forces were decomposed in terms of the palm motion. The thrust in the aquatic swimming trial turned to involve the lift propulsion, while drag component contributed almost the whole thrust in the terrestrial swimming trial. The hydrodynamic results were analyzed and compared to reveal the propulsion generation mechanism. The lift thrust characterized a U-shaped vortex ring around the palm to symbolize the lift mechanism.

“…They are therefore widely used in unknown environments, such as in space exploration, reconnaissance and life rescue. Recently, more and more jumping robots inspired by locusts [1,2], grasshoppers [3], fleas [4], frogs [5] and others have been designed, and these robots can jump several times their own height and length dimensions. However, as most existing research on jumping robot design focuses primarily on jumping heights and distances, aerial and landing postures are often ignored.…”

Section: Introductionmentioning

confidence: 99%

Jumping Robot with Initial Body Posture Adjustment and a Self-Righting Mechanism

Chen

International Journal of Advanced Robotic Systems

et al. 2016

To improve jumping performance, this paper presents a jumping robot with initial body posture adjustment and a self-righting mechanism. A segmental gear, stretching and triggering a spring for the storage and rapid release of energy, is used for the jumping mechanism. Pairs of front and hind supporting legs are used for the initial body posture adjustment. One end of each jumping leg is connected to a spring, while the other end is connected to the necessary wiring. In this way, the robot can correct its orientation from an upside down posture upon landing, simultaneously recovering its jumping legs and storing energy. Experimental results indicate that a jumping robot with a size of 78 mm × 43 mm × 40 mm and a weight of 30 g can jump across an obstacle with a controlled trajectory. It can also control its air pitching posture using the initial body posture adjustment. In addition, the robot can recover its body posture on the ground and store energy for a second jump. This work may provide useful data for further research into take-off posture control mechanisms.