Realization Method of Stable Continuous Steering Jumping for a Bioinspired Jerboa Robot

Abstract

The continuous jumping of bioinspired robots in 3D spaces can greatly improve its motion flexibility, which is one of the highlights of research on jumping robots. However, most existing jumping robots can only move in a plane, and achieving stable continuous steering jumping is difficult. In this study, a realization method of stable continuous steering jumping for a bioinspired jerboa robot is proposed. On the basis of the jumping mechanism of the jerboa, the robot mechanism model is established, and the factors affecting motion feasibility and performance are analyzed in detail. Then, mathematical models of the stability indices of the robot jumping on uneven ground with redundant driving are established. Based on the proposed improved bee colony algorithm, the motion parameters and driving parameters can be determined. Simulation results show that the robot can realize stable continuous steering jumping in different terrains along the expected trajectory, thus proving the feasibility of the method proposed in this study. This study provides a theoretical reference for the high‐speed flexible motion of legged robots in 3D spaces.