Jumping robot based on the kinematics performance of locust

摘要

The geometrical configurations of the locust, Oedaleus infernalis, were obtained by using the stereomicroscope. The jumping movements of the locust were analyzed from the sequences of the images captured by the high-speed camera. The characteristics of the locust during jumping were discussed, and the jumping parameters of the locusts were gained. The jump of the locust was propelled by the simultaneous extension of the two hind legs powered by the rapid depression movements about the coxa-trochanteral joints. Kinematic analysis of the locust jumping provided critical 3D space point data for modeling and simulation. The model of the locust-like robot was established by the technology of virtual prototype. The velocity, acceleration and force of the hind leg of the locust-like robot during jumping were analyzed. This work may provide the basic theory in developing locust-like robot in structural design. Besides, it provides an important reference to study the other bionic robots.