Design and simulation of a robot that can walk and jump

Abstract

This paper presents the development of a small legged robot that can both walk and jump. The robot is designed to four legs that are actuated by two servo motors per leg. Each leg has a jumping part that consists of a gear part and a spring part. We also report the forward kinematics of robot for motion analysis. In addition, computer simulation was executed for evaluating the performance of jumping and walking. The simulation results show that the jumping part can jump as high as 140 mm and the robot can move forward 76 mm during one cycle.