复合式跳跃仿生机器人设计与分析

魏晓华,韩峰,韩晓亮,何明忠

Design and analysis of bionic robot with compound jumping

Xiaohua WEI,Feng HAN,Xiaoliang HAN,Mingzhong HE

表4 机器人向前跳跃时腿部关节角度设置 (°)

Table 4 Setting of leg joint angles with robot's forward jump

关节 步足1 步足2 步足3 步足4 步足5 步足6 髋关节 0 0 0 0 0 0 腿关节 -29/29 -35/-40/75 -53.5/-40/93.5 29/-29 -35/-40/-75 -53.5/-40/93.5 膝关节 35/-35 25/40/-65 38.5/40/-78.5 -35/35 -25/-40/65 -38.5/-40/78.5 跗关节 40/30/-70 9.9/40/-49.9 22/60/-82 -40/-30/70 -9.9/-40/49.9 -22/-60/82