Study status and developing trend of hopping robots

摘要

Inspired by the agility of animal and human locomotion,more and more researchers have been involved in studying hopping motion and developing various hopping robots over the last decades.Hopping motion is a highly nonlinear dynamical behavior consisting of alternating fight and stance phases,which presents challenging control problems.It summarizes the current research status domestic and oversea with respect to hopping robots,sorts the exiting jumping robot and analyses the research approaches in terms of the drive modes,dynamics model analysis and control methods of hopping robots.To conclude,the key technology is stated and the future development of hopping robots is discussed in it.