Realization and kinematic analysis of a bionic hopping robot

Inspired by grasshoppers' and crickets' hopping characteristics, a bionic cricket hopping robot, with its hinder leg actuated mainly by Shape Memory Alloy (for short: SMA) and capable of realizing its self-righting during its landing and adjusting its hopping angle before hopping, is designed and implemented in this paper, which will enhance the existing hopping robots' adaptability in increasingly complicated environment. The hopping robot compromises four working circles, i.e. reset, cocking, energy storage and triggering. The bionic hopping robot's mechanical and and its control system's design and implementation are presented, and the relevant kinematics analysis of its hopping process is conducted in this paper as well.