Yonggang Xiong, Wei Cheng, Wanpeng Tian, Rui Ming, Lingtao Yao, Yutong Zhang, Dongjie Qu, Chengji Mi, and Rui Zhang
Grasshopper hopping robot, landing stability, damping system, zero moment point, response surface method, multi-island genetic algorithm
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.
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