机械与电子Issue(4)：60-63,64,5.
足式机器人单腿跳跃仿真与实验
Simulation and Experiment of Vertical Hopping of a Single Legged Robot
摘要
Abstract
Considering the large foot ground impact force of hopping ,a hydraulic driven leg of quadruped robot is designed based on bionics re-search ,and its kinematics and dynamics model of stance and flight phase are established respective-ly .To meet the requirements of monopod hopping performance and to reduce the impact force ,a hopping strategy of cubic curve tracking is pro-posed .After that ,MSC .ADAMS Simulink co simulation of vertical hopping process of the single leg is carried out .Then a vertical hopping experi-ment platform and its closed loop control system are built .关键词
跳跃/足式机器人单腿/轨迹规划/仿真与实验Key words
hopping/single leg of legged robot/trajectory planning/simulation and experiment分类
信息技术与安全科学引用本文复制引用
钟建锋,罗欣,余益君..足式机器人单腿跳跃仿真与实验[J].机械与电子,2014,(4):60-63,64,5.基金项目
国家自然科学基金面上项目（61175097）；高等学校博士学科点专项科研基金资助项目（20130142110081）；国家自然科学基金创新研究群体科学基金资助项目 （）
