Jumping performance analysis of a frog-inspired robot based on trajectory planning

In order to achieve jumping performance similar with real frog, the frog-inspired robot is required to reach some velocity in takeoff phase. In this paper, trajectory planning method is introduced to analyze jumping performance under different takeoff velocities. Firstly, the kinematic model was built, and the dynamic equation was established using Lagrangian method. Then, aimed at minimum joint torques in takeoff phase, the trajectory planning simulation was carried out with the constraints including different takeoff velocities. The results show that the simulation was conducted in almost the same initial and takeoff positions, and joint motion patterns and joint torques can be analyzed under different takeoff velocities.