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Dynamic characteristics of a jumping robot with coordinated quadruped legs

Jun Zhong (College of Mechanical and Electrical Engineering, Hohai University, Nanjing, China)
Ruqi Ma (Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications, Institute of Spacecraft System Engineering, China Academy of Space Technology, Beijing, China)

Assembly Automation

ISSN: 0144-5154

Article publication date: 9 August 2019

Issue publication date: 18 February 2020



Jumping robots with coordinated multiple legs have been a hot research subject during the past years because of their excellent abilities in fast moving and obstacle-climbing. However, dynamics of jumping process of these coordinated legged robots are complex because of collisions between coordinated legs and the ground. This paper aims to analyze features of jumping process and to present the kinematic and dynamic models of a novel sole-type quadruped jumping robot with variable coordinated joints.


A complete jumping period of is divided into several subphases according to contact status of different coordinated legs to the ground. Continuous dynamics and discrete dynamics are established in different subphases. Simulations are performed in MATLAB software and ADAMS environment.


Comparison between two-set simulated results acquired from ADAMS and MATLAB demonstrates the validity of kinematic and dynamic equations.


The established dynamics establish the foundation of further research in motion planning and controller design of coordinated multiple legs.



This work is supported by the Natural Science Foundation of Jiangsu Province (BK20170301), the Fundamental Research Funds for the Central Universities (2016B11814), Jiangsu Province Key Development Program (BE2017647), the Science and Technology Planning Projects of Changzhou (CJ20179042), the Projects of International Cooperation and Exchanges of Changzhou (CZ20170018) and the Opening Fund of Jiangsu Key Laboratory of Special Robot Technology (2017JSJQR01).


Zhong, J. and Ma, R. (2020), "Dynamic characteristics of a jumping robot with coordinated quadruped legs", Assembly Automation, Vol. 40 No. 1, pp. 11-21.



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