Articles | Volume 14, issue 2
Research article
21 Nov 2023
Research article |  | 21 Nov 2023

Structural design and jumping motion planning of the jumping leg inspired by a goat's hindlimb

Gang Chen, Longxin He, Zhihan Zhao, Yuwang Lu, Jiajun Tu, Xiangying Ren, and Hanzhi Lv


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Short summary
First, a jumping leg mechanism that imitates a goat's hindlimb is proposed. Second, the kinematics of a goat-inspired jumping leg is analyzed and the jumping trajectory planning is conducted with cubic polynomial curves to guarantee smoothness in the jumping process. Finally, experiments on the goat-inspired jumping leg are conducted to test its jumping performance and to verify the correctness of the kinematic model and the jumping trajectory planning method of the leg.