JRM Vol.23 No.2 pp. 225-230
doi: 10.20965/jrm.2011.p0225


Design Principle of High Power Joint Mechanism Possible to Walking and Jumping Imitating Locust Leg Structure

Yuya Nishida*, Takashi Sonoda**, and Kazuo Ishii*

*Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu, Kitakyushu, Fukuoka 808-0196, Japan

**Fukuoka Industry, Science & Technology Foundation, 1-1 Hibikino, Wakamatsu, Kitakyushu, Fukuoka 808-0135, Japan

September 30, 2010
January 10, 2011
April 20, 2011
high power joint, locust leg, structure, Jacobian matrix, design principle

Many insects can jump several times their own body length. Locusts with their powerful hind legs can for example jump up to five times as high – 250 mm. We propose a high-power joint mechanism mimicking the locust leg structure in walking and jumping. The mechanism can produce power higher than motors mounted in the joint mechanism and separate walking and jumping using two motors. We also report the joint mechanism design principles.

Cite this article as:
Yuya Nishida, Takashi Sonoda, and Kazuo Ishii, “Design Principle of High Power Joint Mechanism Possible to Walking and Jumping Imitating Locust Leg Structure,” J. Robot. Mechatron., Vol.23, No.2, pp. 225-230, 2011.
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