STABILITY ANALYSIS AND OPTIMISATION OF GRASSHOPPER HOPPING ROBOT WITH DAMPING SYSTEM

A kind of hind-foot structure with damping system is proposed to solve the problem of the landing stability of grasshopper hopping robot in this paper. Firstly, based on zero moment point theory, the assessment method of the stability margin and properties was determined. Then, the change of zero mo...

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Bibliographic Details
Published in:International journal of robotics & automation 2024-07, Vol.39 (4), p.1
Main Authors: Xiong, Yonggang, Cheng, Wei, Tian, Wanpeng, Ming, Rui, Yao, Lingtao, Zhang, Yutong, Qu, Dongjie, Mi, Chengji, Zhang, Rui
Format: Article
Language:English
Subjects:
Damping
Genetic algorithms
Global optimization
Grasshoppers
Landing
Moments of inertia
Response surface methodology
Robots
Stability analysis
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Summary:A kind of hind-foot structure with damping system is proposed to solve the problem of the landing stability of grasshopper hopping robot in this paper. Firstly, based on zero moment point theory, the assessment method of the stability margin and properties was determined. Then, the change of zero moment point during the landing was analysed, and compared with the results of grasshopper hopping robot without the damping system, the suggested structure had better stability. Finally, based on the response surface method, the relationship between the average distance from the ZMP point to the central line and the mass, length, and moment of inertia of link 6 and link 7 was constructed. The global optimisation was conducted on this model based on the multi-island genetic algorithm (GA), and the optimal solution of damping system was obtained. The simulation results show that the hind-foot structure can effectively improve the landing stability of the grasshopper hopping robot.
ISSN:0826-8185
1925-7090
DOI:10.2316/J.2024.206-0890