Forward and inverse kinematics of a robotic frog

Abstract

Among all the kinds of locomotion adapted by the living organisms in nature, jumping has proven itself as one of the most efficient ways of traversal through rough terrain. Frogs are the efficient and stable organisms which use jumping as their primary means of locomotion. For any legged robot to take a perfect jump, taking off perfectly is one of the most important aspects. So, the trajectory of the center of gravity (CG) of the robot is of the utmost importance. For this, the motion and coordination of the legs should be very precise for which, we have to carry out the forward and inverse kinematics of the robot. In this paper, we used Denavit-Hartenberg (DH) Parameters to carry out the forward kinematics. Jacobian and Artificial Neural Networks (ANN) methods are used to compute the inverse kinematics of the robot and a comparison of performance of these two methods is presented.