Kinematics and Task-Oriented Manipulability Measure for the Bionic Cricket Hopping Robot

This paper describes the kinematics as well as the task-oriented manipulability measure for the bionic cricket hopping robot according to the configuration of the cricket and the characteristics of its jumping behavior. The main purposes of the study are to establish the kinematic equations during the stance phase of the cricket jump on the basis of the model for the mechanism of the bionic cricket robot and then introduce the definition of task-oriented manipulability measure including both velocity and force manipulability measures through the relationship between the joint space and the task space. Besides, another goal is to measure the motion and force transmissibility of the bionic cricket hopping robot by using the velocity and force manipulability measures as the performance index. The results of simulation will be shown.