Optimization of a frog inspired robot powered by pneumatic muscles

摘要

Study on frog swimming mechanism is an interesting topic, and a frog inspired robot has been designed with the pneumatic muscles as the driver. To improve the design and trajectory planning, the optimization of the robot was studied in this paper. For the robot structure, the limb size was optimized in ADAMS and joint parameters of the bionic robot are optimized by particle swarm optimization (PSO) method. Meanwhile, the trajectory during propulsive phase is also optimized in Matlab. Simulations in ADAMS verified the feasibility of the proposed optimization for the frog inspired robot.