Dynamic analysis of two-link articulated hopping robot with stopper mechanisms

Hiroyuki Kojima, Gustavo Kato

Research output: Contribution to journalArticlepeer-review

Abstract

In this paper, the dynamic behaviors of a two-joint articulated hopping robot with two stopper mechanisms are theoretically investigated. In the theoretical analysis, the four phases are used to model the dynamic behaviors of the two-joint articulated hopping robot. By the use of the principle of the conservation of momentum and angular momentum, the initial states in the periods of the phase-B and the phase-C are derived, and the equations of motion of the two-joint articulated hopping robot in the four phases are obtained. Furthermore, the numerical simulations have been carried out, and it is theoretically confirmed that the hopping and moving actions can be successfully performed.
Original languageAmerican English
Pages (from-to)143-150
Number of pages8
JournalTheoretical and Applied Mechanics Japan
StatePublished - 1 Dec 2005
Externally publishedYes

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