Hop-Bot: A Bio-inspired approach to Locomotion and Stability in Modular Robotics

摘要

In this paper, we introduce a bio-inspired hopping robot designed to emulate the efficient locomotion of jumping animals. The primary goal of this robot is to achieve agile and versatile movement suitable for a variety of surveillance applications. Drawing inspiration from nature’s remarkable jumping abilities, the robot’s design incorporates principles of efficient energy transfer and dynamic control. Utilizing a unique thrust mechanism characterized by a rich trajectory and metamorphic features, the robot demonstrates remarkable hopping efficiency, propelled by only two servo motors as actuators. To enhance its capabilities, the robot integrates three legs to facilitate self-righting, steering, and take-off. This paper extensively discusses the hopping robot’s leg mechanism, actuation method, and control system. The presence of three legs aids in stabilizing the robot during falls, contributing to its overall robustness. Additionally, the robot’s ability to adjust its center of mass (COM) using the main body enables it to execute jumps in various directions. Furthermore, we delve into the development of a comprehensive model aimed at simulating and predicting the robot’s behavior across diverse environments. The computational and experimental results regarding the robot’s hopping performance consistently validate the proposed dynamics model and solution, suggesting their applicability to motion prediction and performance analysis of intermittent hopping robots. Despite encountering challenges associated with this design, such as control complexity and material selection, the research showcases promising avenues for future exploration and development in the field of bio-inspired robotics.