Landing Impact Analysis of a Bioinspired Intermittent Hopping Robot with Consideration of FrictionReportar como inadecuado

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Mathematical Problems in Engineering - Volume 2015 2015, Article ID 374290, 12 pages -

Research Article

State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing 400044, China

School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, China

Chongqing Wushan Power Supply Co., Ltd., State Grid Corporation of China, Chongqing 404700, China

Received 6 August 2014; Revised 10 November 2014; Accepted 14 November 2014

Academic Editor: Shaoping Bai

Copyright © 2015 Long Bai et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Multibody dynamics for the flying and landing oblique impact processes of a bioinspired intermittent hopping robot is derived in this paper by using the impulse-momentum principle. The dynamics model that involves the multibody configuration, mass distribution of the robot, and friction is solved by the linear complementarity conditions in terms of different impact types. The computational and experimental data is compared. And the influence factors of landing impact are analysed as well. Based on the influence rules for landing impact, a technical design of solution is proposed for adjusting the robot’s attitude during the jumping and for absorbing the impact energy during the landing. Lessons learned from the theoretical and experimental results have general applicability to the motion prediction, performance analysis, and landing stability study for intermittent hopping robots or other legged robots.

Autor: Long Bai, Wenjie Ge, Xiaohong Chen, Qian Tang, and Rong Xiang



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