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

Related authors

Dynamic modeling and experiment of hind leg swimming of beaver-like underwater robot
Gang Chen, Zhenyu Wang, Jiajun Tu, and Donghai Wang
Mech. Sci., 13, 831–842,,, 2022
Short summary

Related subject area

Subject: Dynamics and Control | Techniques and Approaches: Numerical Modeling and Analysis
Design and experiment of magnetic navigation control system based on fuzzy PID strategy
Guosheng Geng, Feng Jiang, Chao Chai, Jianming Wu, Yejun Zhu, Guiguan Zhou, and Maohua Xiao
Mech. Sci., 13, 921–931,,, 2022
Short summary
Adaptive sliding-mode control for improved vibration mitigation in civil engineering structures
Khaled Zizouni, Abdelkrim Saidi, Leyla Fali, Ismail Khalil Bousserhane, and Mohamed Djermane
Mech. Sci., 13, 899–908,,, 2022
Short summary
Autonomous vehicle trajectory tracking lateral control based on the terminal sliding mode control with radial basis function neural network and fuzzy logic algorithm
Binyu Wang, Yulong Lei, Yao Fu, and Xiaohu Geng
Mech. Sci., 13, 713–724,,, 2022
Short summary
Dynamic modeling of a metro vehicle considering the motor–gearbox transmission system under traction conditions
Tao Zhang, Taimu Jin, Ziwei Zhou, Zaigang Chen, and Kaiyun Wang
Mech. Sci., 13, 603–617,,, 2022
Short summary
Dynamic characterization of controlled multi-channel semi-active magnetorheological fluid mount
Zhihong Lin and Mingzhong Wu
Mech. Sci., 12, 751–764,,, 2021
Short summary

Cited articles

Chen, D., Yin, J., Zhao, K., Zheng, W., and Wang, T.: Bionic Mechanism and Kinematics Analysis of Hopping Robot Inspired by Locust Jumping, J. Bionic Eng., 8, 429–439,, 2011. 
Chen, G., Lu, Y., Yang, X., and Hu, H.: Reinforcement learning control for the swimming motions of a beaver-like, single-legged robot based on biological inspiration, Robot. Auton. Syst., 154, 104116,, 2022a. 
Chen, G., Yang, X., Xu, Y., Lu, Y., and Hu, H.: Neural network-based motion modeling and control of water-actuated soft robotic fish, Smart Mater. Struct., 32, 015004,, 2022b. 
Chen, G., Xu, Y., Yang, C., Yang, X., Hu, H., Chai, X., and Wang, D.: Design and Control of a Novel Bionic Mantis Shrimp Robot, IEEE/ASME Transactions on Mechatronics, 1–10,, 2023a. 
Chen, G., Zhao, Z., Wang, Z., Tu, J., and Hu, H.: Swimming modeling and performance optimization of a fish-inspired underwater vehicle (FIUV), Ocean Eng., 271, 113748,, 2023b. 
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.