Modeling and simulation of a jumping frog robot

Abstract

In nature, several animals and insects use jumping locomotion in rough terrains. Jumping locomotion is useful for ground robots as jumping provide high speed movement with enhanced energy efficiency. It also helps in overcoming obstacles relatively larger than their body sizes. Jumping needs coordination and large instantaneous forces within a very short duration. In this paper, a method of jumping by using a four-bar spring/linkage mechanism integrated with spool winding and ratchet release mechanism has been presented. Inspired by the frogs, we have modeled and simulated a simple and efficient four legged jumping frog robot.