Jian Yang

Research on a bionic jumping mechanism based on planar torsion spring energy storage and rope-driven tail posture stabilization

Jumping robots provide strong obstacle-crossing capability and adaptability to unstructured terrain. This paper proposes a jerboa-inspired jumping mechanism integrating a near-vertical leg linkage, a planar-torsion-spring series elastic actuator, and a rope-driven articulated tail. The leg mechanism is optimized to red...