Design, Optimization, and Experiment on a Bioinspired Jumping Robot with a Six-Bar Leg Mechanism Based on Jumping Stability

Figure 18

Jumping sequence of the robot. The coordinates of the center of mass are (a) (0 mm, 0 mm, 0 mm), (b) (16 mm, 0 mm, 0 mm), and (c) (37 mm, 0 mm, 0 mm).

(a)

(b)

(c)