Journal of Bionic Engineering ›› 2025, Vol. 22 ›› Issue (4): 1637-1654.doi: 10.1007/s42235-025-00710-y
• • 上一篇
The Multimodal Bionic Robot Integrating Kangaroo-Like Jumping and Tortoise-Like Crawling
Bin Liu1；Yifei Ren2；Zhuo Wang1；Shikai Jin1；Wenjie Ge1
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1 School of Mechanical Engineering, NorthwesternPolytechnical University, Xi’an 710072, China
2 Southwest China Research Institute of Electronic Equipment,Chengdu 610036, China
The Multimodal Bionic Robot Integrating Kangaroo-Like Jumping and Tortoise-Like Crawling
Bin Liu1；Yifei Ren2；Zhuo Wang1；Shikai Jin1；Wenjie Ge1
- 1 School of Mechanical Engineering, NorthwesternPolytechnical University, Xi’an 710072, China 2 Southwest China Research Institute of Electronic Equipment,Chengdu 610036, China
摘要： In this study, we present a small, integrated jumping-crawling robot capable of intermittent jumping and self-resetting. Compared to robots with a single mode of locomotion, this multi-modal robot exhibits enhanced obstacle-surmounting capabilities. To achieve this, the robot employs a novel combination of a jumping module and a crawling module. Thejumping module features improved energy storage capacity and an active clutch. Within the constraints of structural robustness, the jumping module maximizes the explosive power of the linear spring by utilizing the mechanical advantage of a closed-loop mechanism and controls the energy flow of the jumping module through an active clutch mechanism. Furthermore, inspired by the limb movements of tortoises during crawling and self-righting, a single-degree-of-freedom spatial four-bar crawling mechanism was designed to enable crawling, steering, and resetting functions. To demonstrate its practicality, the integrated jumping-crawling robot was tested in a laboratory environment for functions such as jumping, crawling, self-resetting, and steering. Experimental results confrmed the feasibility of the proposed integrated jumping-crawling robot.