Locomotion Analysis of Hopping Kangaroo Robot Considing Tail

摘要

Considered the tail's influence on its stance,a kangaroo robot having tail was designed based on kangaroo's structure and hopping characteristics.Kinematics and dynamics of the model in the contact process were established.Curves that the length of leg,the change of centroid,the ground force and joint moments with time in the process were obtained using Matlab 7.0.The hip joint moment,the change of controid,and the ground force were analysed and discussed in the two different form that one has tail and the other does not.Computer simulation shows that the tail has great influence on the kangaroo robot's stance and can decrease the stroke of the ground;the need of the hip joint moment does not change evidently in the two different form.The research will be the foundations for the machine design and the control.