Modeling and Simulation of a Bio-Inspired Symmetrical Jumping Robot

This paper presents the modeling and simulation of a jumping robot with passive self-righting and steering capabilities. Inspired by clams, two conical shells are mounted on the upper and lower sides of the robot's body symmetrically to prevent the robot from damage during landing. The jumping mechanism of the robot is also designed symmetrically up and down. Therefore, the robot can self-right passively and take off when either its upper shell or lower shell contacts with the ground after landing. A wheel in the body of the robot can be used to steer before takeoff when the springs of the jumping mechanism are compressed. The simplified vertical jumping is modeled and simulated. The 3D model of the robot is designed. The kinematic and dynamic simulations of the jumping and steering are conducted by using ADAMS. The simulation results verify the feasibility of the design concepts of the jumping robot.