Related Experiment Video
Updated: Oct 16, 2025
07:40
Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
Published on: June 10, 2020
14.9K
Bio-Inspired Take-Off Maneuver and Control in Vertical Jumping for Quadruped Robot with Manipulator
Ru Kang1,2, Fei Meng1,2, Lei Wang1,2
1Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China.
Micromachines
|October 23, 2021
Summary
Legged robots can jump higher on planetary exploration missions by coordinating their limbs. A bio-inspired arm swing maneuver improves jumping height and stability for quadruped robots with manipulators.
Area of Science:
- Robotics
- Bio-inspired engineering
- Planetary exploration
Background:
- Legged robots are crucial for navigating rugged planetary terrain in microgravity.
- Quadruped robots with manipulators offer enhanced operational capabilities but face reduced jumping performance due to added weight and control complexity.
Purpose of the Study:
- To enhance the jumping height and stability of quadruped robots equipped with manipulators for planetary exploration.
- To introduce a bio-inspired take-off maneuver coordinating upper and lower limb movements.
Main Methods:
- A bio-inspired take-off maneuver involving upward manipulator-end (ME) swing was developed to increase system energy.
- A whole-body control framework, simplifying the robot to a floating seven-link model, was employed.
- Hierarchical optimization was used to solve for target joint torques, simplifying dynamic calculations.
Main Results:
- Simulations demonstrated improved jump heights in various gravity environments and on a 15° slope with the arm swing maneuver.
- The bio-inspired maneuver effectively increased kinetic and potential energy, reducing peak leg joint power.
- The whole-body control framework ensured continuous and stable jumping performance.
Conclusions:
- The proposed bio-inspired take-inspired maneuver significantly enhances the jumping ability of quadruped robots with manipulators.
- The whole-body control framework provides a stable and computationally efficient method for controlling complex legged robots.
- This research offers a practical solution for improving the mobility and operational effectiveness of robots in planetary exploration.
Related Concept Videos
01:16Hydraulic Jump: Problem Solving
207
To analyze a hydraulic jump in a rectangular channel with a flow speed of 6 meters per second, follow these steps:Calculate Effective Upstream Velocity:When the downstream gate closes, a hydraulic jump forms, traveling upstream at 2 meters per second. This wave speed combines with the initial channel flow velocity, creating an effective upstream velocity.Identify Flow Velocities Before and After the Hydraulic Jump:Upstream of the hydraulic jump, the effective flow velocity includes both the...
207
01:24One-Degree-of-Freedom System
571
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
571
01:17Open and closed-loop control systems
1.1K
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
1.1K
01:30Three-Dimensional Force System:Problem Solving
959
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
959
01:24Muscle Coordination and Action
2.3K
Muscle coordination is a complex and finely tuned process essential for smooth and purposeful movements like flexion, extension, adduction, abduction, and rotation. The human body orchestrates the actions of various muscles working in concert, each with a specific role. Four functional types describe how muscles work together: agonist, antagonist, synergist, and fixator.
Agonists
Agonist muscles, often called prime movers, are the primary muscles responsible for producing a specific movement....
Agonists
Agonist muscles, often called prime movers, are the primary muscles responsible for producing a specific movement....
2.3K