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JRM Vol.23 No.2 pp. 225-230
doi: 10.20965/jrm.2011.p0225
(2011)

Paper:

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Design Principle of High Power Joint Mechanism Possible to Walking and Jumping Imitating Locust Leg Structure

Yuya Nishida*, Takashi Sonoda**, and Kazuo Ishii*

*Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu, Kitakyushu, Fukuoka 808-0196, Japan

**Fukuoka Industry, Science & Technology Foundation, 1-1 Hibikino, Wakamatsu, Kitakyushu, Fukuoka 808-0135, Japan

Received:
September 30, 2010
Accepted:
January 10, 2011
Published:
April 20, 2011
Creative Commons License
Keywords:
high power joint, locust leg, structure, Jacobian matrix, design principle
Abstract
Many insects can jump several times their own body length. Locusts with their powerful hind legs can for example jump up to five times as high - 250 mm. We propose a high-power joint mechanism mimicking the locust leg structure in walking and jumping. The mechanism can produce power higher than motors mounted in the joint mechanism and separate walking and jumping using two motors. We also report the joint mechanism design principles.
Cite this article as:
Y. Nishida, T. Sonoda, and K. Ishii, “Design Principle of High Power Joint Mechanism Possible to Walking and Jumping Imitating Locust Leg Structure,” J. Robot. Mechatron., Vol.23 No.2, pp. 225-230, 2011.
Data files:
References
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