Terrain Jumper: Locust Robot Design and Application Combined with Mathematical Modeling

Xinyi Shi; Ziyuan Xu

doi:10.54691/j8531z45

Authors

Xinyi Shi
Ziyuan Xu

DOI:

https://doi.org/10.54691/j8531z45

Keywords:

Locust robot, bionics, dynamic model, jumping model, mechanism design.

Abstract

This study is based on bionics. The jumping model of a locust-based robot was designed and manufactured through analysis and study of the jumping behavior of locusts. Experiments verified that the locust robot model has good jumping ability and stability, further expanding special application scenarios such as robots moving in rough terrain.This study uses a one-sided locust model and a six-link model as a simulation structure based on existing literature research. According to the position state of the Robot during the jump, a mathematical model is established to analyze the jump. Continuous structural adjustments finally created a locust bionic robot with strong jumping ability. The experiment revealed that the Robot will roll over and fall due to an unstable center of gravity during jumping. This study further designed an auxiliary automatic correction structure mainly controlled by a steering gear.

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