Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 14, issue 2
Articles | Volume 14, issue 2
https://doi.org/10.5194/ms-14-493-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-14-493-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
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

Viewed

Total article views: 1,600 (including HTML, PDF, and XML)
HTML PDF XML Total BibTeX EndNote
1,109 402 89 1,600 74 136
  • HTML: 1,109
  • PDF: 402
  • XML: 89
  • Total: 1,600
  • BibTeX: 74
  • EndNote: 136
Views and downloads (calculated since 21 Nov 2023)
Cumulative views and downloads (calculated since 21 Nov 2023)
Latest update: 30 Sep 2026
Download
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.
Read more
Share