A bionic hopping mechanism for over-obstacle

A geared 5-bar spring/linkage mechanism used for hopping robot is investigated based on the analysis of over-obstacle performance, and the mechanism is able to adjust the energy stored in spring for hopping. The impact of structure parameters on over-obstacle performance is also investigated. The gait of robot in a hopping cycle is analyzed as the action sequence which includes attitude adjustment phase, energy storage phase, take-off phase, flight phase, landing and pose reset phase. The feasibility of the hopping mechanism is verified by numerical simulations in which the force that acts on robot is also considered.