关键词: 仿袋鼠跳跃机器人, 运动学特性, 动力学特性, 仿生学

Abstract:

Based on the body configuration and kinematics characteristics of kangaroo in its flight phase, a new method to analyse the torque characteristics was presented.A model to simulate the kangaroo robot in the flight phase was also founded using
D-H method. The equations of the model were derived using Lagrange method and the model was simulated by Matlab at last. The results show that, the hip and knee joints play the most important role in tuning the configuration of kangaroo hopping robot in flight phase,which is the basis for the experimental research and choosing driving actuators.

Key words: kangaroo-hopping robot;kinematics characteristic, dynamics characteristic;bionics