TY - GEN
T1 - Design and Simulation of a Bipedal Robot for Explosive Jumping Based on a Hybrid Linkage-Cam Mechanism
AU - Fu, Qiang
AU - Li, Ke
AU - Qi, Zhanchuan
AU - Lou, Yunjiang
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2026.
PY - 2026
Y1 - 2026
N2 - Humanoid robots, with their human-like structure and mobility, show great potential in rescue, exploration, industrial, and domestic applications. While significant progress has been made in basic locomotion, the achievement of highly explosive jumps remains challenging due to inefficient energy storage and delayed power release. This study proposes a bipedal jumping robot based on a hybrid linkage-cam mechanism to address these issues. A novel leg design combines an Electro-Hydrostatic Actuator (EHA), an ankle pitch motor, a spring-linkage energy storage unit, and a stroke amplification mechanism to boost instantaneous power output. A simplified seven-link leg model is developed, and both forward and inverse kinematic analyses are conducted to ensure accurate motion control. Additionally, a spring-loaded inverted pendulum (SLIP) model is constructed for jumping dynamics simulation, demonstrating the robot’s strong jump performance and stability.
AB - Humanoid robots, with their human-like structure and mobility, show great potential in rescue, exploration, industrial, and domestic applications. While significant progress has been made in basic locomotion, the achievement of highly explosive jumps remains challenging due to inefficient energy storage and delayed power release. This study proposes a bipedal jumping robot based on a hybrid linkage-cam mechanism to address these issues. A novel leg design combines an Electro-Hydrostatic Actuator (EHA), an ankle pitch motor, a spring-linkage energy storage unit, and a stroke amplification mechanism to boost instantaneous power output. A simplified seven-link leg model is developed, and both forward and inverse kinematic analyses are conducted to ensure accurate motion control. Additionally, a spring-loaded inverted pendulum (SLIP) model is constructed for jumping dynamics simulation, demonstrating the robot’s strong jump performance and stability.
KW - SLIP
KW - bipedal robot
KW - explosive jumps
KW - humanoid robot
KW - linkage-cam mechanism
UR - https://www.scopus.com/pages/publications/105020789944
U2 - 10.1007/978-981-95-2101-2_8
DO - 10.1007/978-981-95-2101-2_8
M3 - 会议稿件
AN - SCOPUS:105020789944
SN - 9789819521005
T3 - Lecture Notes in Computer Science
SP - 88
EP - 100
BT - Intelligent Robotics and Applications - 18th International Conference, ICIRA 2025, Proceedings
A2 - Matsuno, Takayuki
A2 - Liu, Honghai
A2 - Liu, Lianqing
A2 - Yin, Zhouping
A2 - Zhu, Xiangyang
A2 - Ren, Weihong
A2 - Wang, Zhiyong
A2 - Sheng, Yixuan
PB - Springer Science and Business Media Deutschland GmbH
T2 - 18th International Conference on Intelligent Robotics and Applications, ICIRA 2025
Y2 - 6 August 2025 through 9 August 2025
ER -