1 Introduction
2 Design of Frog-inspired Robot
2.1 Modeling of the Frog-inspired Robot
2.2 Structure of the Frog-inspired Robot
2.2.1 Robot System
2.2.2 Design of the Hind Legs
2.2.3 Design of Pneumatic Circuit
3 Model of the Pneumatic System
3.1 Dynamic Model of the Source Chamber and Exhaust Chamber
3.2 Dynamic Model of the Pneumatic Muscle
3.3 Dynamic Model of the Pneumatic System
4 Simulations and Experiments
Parameter | Value |
---|---|
Body length l
0/m | 0.590 |
Body width w
0/m | 0.340 |
Thigh length l
1/m | 0.280 |
Crus length l
2/m | 0.280 |
Palm length l
3/m | 0.336 |
Palm area S/m2
| 0.0335 |
Total mass m/kg | 12 |
Displacement V
d/L | 19 |