Jumping Mechanism and Simulation of the Humanoid Robot
The jumping procedure of the human was captured with a high-speed video camera. The geometrical configurations and motion postures of the human during jumping were analyzed from the high-speed photographs. Based on the biological observation, the human jump was simplified and a mechanical model was put forward. The height and vertical velocity of COM of the human were analyzed. The angular velocity of the shoulder joint, hip joint, knee joint and ankle joint were shown in figure.It was shown that the arm swing was able to help increase the takeoff velocity. The results would provide some theoretical and practical references for biomimetic design for improving the reasonable motion of the jumping robot. This work may provide the basic theory in developing human jumping robot in structural design. Besides, it provides an important reference to study the other bionic robots.
Linli Xu, Wenya Tian and Elwin Mao
Y. Chen "Jumping Mechanism and Simulation of the Humanoid Robot", Applied Mechanics and Materials, Vols. 80-81, pp. 1176-1179, 2011