Design of the Single Leg of the Quadruped Bionic Robot with Jumping

In order to achieve jumping movement gait of a quadruped bionic robot, herein, a kind of quadruped bionic robot with a single leg is designed for the purpose. The body, thigh, shin, ankle and the structure of the energy storage unit are determined by analyzing the bone structure and the muscle distribution of a four-legged mammal. The energy storage unit is set on the each joint, by instantaneously releasing energy, the position relations are rapid changed between the two structure units on which the energy storage unit is connected. The structure can realize the jumping by simulating the bionic mammal's muscles tensioning and relaxing. In this paper, the energy storage unit composes of mechanical and electronic integration mode, the spring of the storage energy, the electromagnetic clutch, and the servo motor control that controls the movement of the structure. The movement is controlled by a servo motor. The walking robot that uses the designed leg structure can satisfy the requirements of certain environment and task. The modular structures simplify the structure and the control of the robot, which reduce the research and use-cost.