Design of a novel frog-inspired hopping leg

A frog-inspired hopping leg is designed in this paper, and the pneumatic muscle is utilized as the driver. The muscles are bioarticular muscles which can not only increase the range of the joint angle, but also make the robot compliance more similar to real frogs. Kinematics analysis of pneumatic muscles is accomplished, and the experiments of motion simulations based on virtual components are given, as the theoretical basis of further design of the control system.