A kangaroo-like robot and a jumping method thereof

Abstract

The application discloses a kangaroo-imitating robot and a jumping method thereof, and is characterized in that a set of jumping mechanisms is arranged on each of two sides of the inside of a main body, a tail is arranged at the rear end of the main body and can swing up and down, the tail can help the kangaroo-imitating robot stand and keep the posture of the kangaroo-imitating robot balanced during the jumping process, the upper end of a hind leg is rotationally connected with the main body, a swing leg motor can drive the swing of the hind leg, a guide sleeve is rotationally connected with the front side of the upper end of the hind leg, an elastic rod is arranged in the guide sleeve and can move up and down, a take-off spring is arranged at the lower side of the guide sleeve, so that the elastic rod can move upwards to compress the take-off spring, the lower side of a supporting foot is of an arc surface structure, the rear end of the supporting foot is rotationally connected with the lower end of the hind leg, the lower end of the elastic rod is rotationally connected with the middle position of the upper side of the supporting foot, a clutch motor is fixedly arranged in the inner side of the guide sleeve, a gear in the clutch motor can form a gear and rack transmission with the elastic rod, two forearm mechanisms are arranged on the two sides of the main body and can provide support when the kangaroo-imitating robot turns.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of bionic robot technology, in particular to a kangaroo-imitating robot and a jumping method thereof. BACKGROUND

[0002] With the continuous development of robot technology, future robots will have more and more applications, and one of the important robot application directions is to explore the complex nature, and the robot moving in complex working environment needs to solve the problem of how to improve the terrain adaptability, which requires the robot to have strong obstacle crossing ability to meet the complex topography of the natural environment. Wheeled and tracked robots cannot cross ditches and obstacles; walking and crawling robots not only move slowly and have poor obstacle crossing ability, but also have many degrees of freedom and complex control; while jumping robots have superior obstacle crossing ability, their footholds do not have to be continuous, they can choose the optimal support point in the area that can be reached, and they can also cross obstacles several times their own size, and the suddenness and explosiveness of jumping movement help to avoid danger, making them more flexible when completing dangerous tasks, so they can meet the needs of human exploration of the natural world, and have great potential in anti-terrorism, rescue and disaster relief and many other fields.

[0003] Nature is always our object of study for elegance and efficiency in design. Among them, kangaroos have short forelimbs, developed hind limbs, long and thick tails, and the characteristics of jumping instead of running. The speed of kangaroos can reach 70 kilometers per hour when jumping, and they can jump 10 meters at a time and jump over obstacles 3 meters high, making them the best species in the natural world in terms of jumping ability, so developing a bionic kangaroo robot has important research significance and practical value. SUMMARY

[0004] To solve the problems of the prior art, the purpose of the present application is to provide a kangaroo-imitating robot and a jumping method thereof, which can realize continuous jumping and have the characteristics of landing energy recovery and reducing rigid impact.

[0005] The technical scheme adopted by the present application is: a kangaroo-imitating robot and a jumping method thereof, characterized in that: the inside of the main body is a hollow structure, two leg rod mounting plates are arranged at the rear end of the inside of the main body, a hanging cabin surrounded by a partition plate is arranged at the upper end of the inside of the main body, a power and control unit is fixedly arranged in the hanging cabin, a gyroscope sensor is fixedly arranged at the lower side of the hanging cabin, and one set of a jumping mechanism is arranged on each of the left and right sides of the main body; the front end of a tail is rotatably connected to the rear end of the main body, an electric cylinder is arranged in the inside of the main body and can control the up-down swing of the tail, the tail can help the kangaroo-imitating robot stand and can keep the posture of the kangaroo-imitating robot balanced during jumping; the upper end of a rear leg is arranged outside the right leg rod mounting plate and forms a rotating pair, a swing leg motor is fixedly arranged inside the right leg rod mounting plate and can drive the swing of the rear leg; a smooth circular hole is vertically arranged in the inside of a guide sleeve, an upper bowl structure with an opening downward is arranged at the lower end of the guide sleeve, a transverse circular hole is further arranged on the guide sleeve, and the rear end of the guide sleeve is rotatably connected to the front side of the upper end of the rear leg; the main body of an elastic rod is a circular rod structure, a lower bowl structure is arranged on the elastic rod, a straight rack is vertically arranged on the front side of the upper half of the elastic rod, the elastic rod is coaxially arranged in the smooth circular hole in the inside of the guide sleeve and can move up and down, and a take-off spring is arranged between the upper bowl structure and the lower bowl structure, so that the elastic rod moves upward to compress the take-off spring; the lower side of a supporting foot is an arc surface structure, the rear end of the supporting foot is rotatably connected to the lower end of the rear leg, and the lower end of the elastic rod is rotatably connected to the middle position of the upper side of the supporting foot; a clutch motor is fixedly arranged in the inside of the guide sleeve, an external spline is arranged at the left end of the output shaft of the clutch motor, a gear and the output shaft form a spline transmission structure, a horizontal pushing sleeve is rotatably connected to the right end of the gear, a pushing rod is rotatably connected to the shell of the clutch motor and forms a lever structure, an electromagnet is fixedly arranged on the upper side of the clutch motor, a horizontal moving mandrel is arranged in the center of the electromagnet and can move left and right, a return spring is arranged at the right end of the horizontal moving mandrel, and the horizontal moving mandrel can move the gear left and right through the pushing rod; the number of forearm mechanisms is two and they are respectively arranged on the two sides of the main body, the upper end of a front large arm in the forearm mechanism is rotatably connected to the main body, the lower end is rotatably connected to the rear end of a front small arm, and the front end of the front small arm is provided with a roller; when turning, the two forearm mechanisms can provide support for the kangaroo-imitating robot.

[0006] Preferably, a lithium battery pack and a data processing system are integrated in the power and control unit, the data processing system can process motion parameters of the kangaroo-imitating robot in real time and control various power components.

[0007] Preferably, the gyroscope sensor can detect dynamic parameters of the pitch angle, acceleration and space moving speed of the kangaroo-imitating robot in real time and feed back the parameters to the data processing system in real time.

[0008] Preferably, a rubber pad is wrapped on the lower side of the supporting foot, and the rubber pad is used to increase the friction between the supporting foot and the ground.

[0009] Preferably, the left end of each tooth of the gear is provided with a slope, which can guide the gear to mesh with the straight rack when the gear moves to the left.

[0010] Preferably, the tail has a shape of being thick at the front end and thin at the rear end, and two irregularly-shaped weight-reducing holes are arranged near the front end of the tail, which can increase the specific gravity of the tail end and help to control the overall balance through the tail.

[0011] The present application has the following advantages:

[0012] (1) The clutch motor can drive the rotation and transverse movement of the gear, and when the gear meshes with the rack, the compression energy of the take-off spring can be stored, and the movement of the elastic rod can be controlled to help realize the steering of the kangaroo robot, and when the gear is disengaged from the rack, the elastic force of the spring can be released to make the kangaroo robot jump up.

[0013] (2) The lower side of the supporting leg is arc-shaped, and the two supporting legs and the tail can form three-point support to realize the stable standing of the kangaroo robot.

[0014] (3) The gyroscope sensor can detect the jumping posture of the kangaroo robot in real time, and the gyroscope sensor is equivalent to the balance sensing organ of the kangaroo, which can always keep the kangaroo robot in a balanced posture.

[0015] (4) The tail can swing up and down in real time according to the needs of the kangaroo robot, which can always keep the balance of the robot and adjust the pitch of the kangaroo robot in the air to ensure that it has a suitable posture when landing.

[0016] (5) When the kangaroo robot lands, the take-off spring can convert the gravitational potential energy into elastic potential energy to realize energy recovery, and also can convert the rigid impact of landing into a flexible impact to protect the body parts from damage. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present application.

[0018] Figure 2 It is a schematic diagram of the internal structure of the present application.

[0019] Figure 3 It is a schematic diagram of the cross-sectional structure of the clutch motor.

[0020] Figure 4 It is a schematic diagram of the longitudinal cross-sectional structure of the present application.

[0021] Figure 5 It is a schematic diagram of the local cross-sectional structure of the forearm mechanism.

[0022] Figure 6 It is a schematic diagram of the standing of the present application.

[0023] Figure 7 Partial cross-sectional structure diagram for take-off of the present application.

[0024] Figure 8 Partial cross-sectional structure diagram for landing of the present application.

[0025] Figure 9 Partial cross-sectional structure diagram for turning of the present application.

[0026] Figure number: 1 main body, 1.1 pod, 1.2 leg rod mounting plate, 1.3 connecting lug, 2 tail, 3 rear leg, 4 elastic rod, 4.1 lower bowl structure, 5 support foot, 5.1 rubber pad, 6 front large arm, 6.1 round shaft, 7 front small arm, 7.1 roller, 7.2 second pulley, 8 gyroscope sensor, 9 power and control unit, 10 swing leg motor, 11 guide sleeve, 11.1 upper bowl structure, 12 take-off spring, 13 clutch motor, 14 large arm motor, 15 electric cylinder, 16 gear, 16.1 sliding sleeve, 17 horizontal poking sleeve, 18 output shaft, 18.1 external spline, 19 return spring, 20 electromagnet, 21 horizontal moving mandrel, 22 poking rod, 23 small arm motor, 23.1 first pulley, 24 synchronous belt. DETAILED DESCRIPTION

[0027] The present application will be further described below in conjunction with specific embodiments, the illustrative embodiments of the present application and the description are used to explain the present application, but are not as a limitation of the present application.

[0028] As shown in Figures 1-9 A kangaroo-imitating robot and its jumping method, comprising a main body 1, a tail 2, a rear leg 3, an elastic rod 4, a support foot 5, a front large arm 6, a front small arm 7, a gyroscope sensor 8, a power and control unit 9, a swing leg motor 10, a guide sleeve 11, a take-off spring 12, a clutch motor 13, a large arm motor 14, an electric cylinder 15, a small arm motor 23, a first pulley 23.1, and a synchronous belt 24, wherein the main body 1 is the body structure of the kangaroo-imitating robot, the inside of the main body 1 is a hollow structure, a pod 1.1 is formed by a partition plate arranged at the upper end of the inside of the main body 1, the power and control unit 9 is fixedly installed in the pod 1.1, the lower side of the pod 1.1 is a planar structure, the gyroscope sensor 8 is fixedly installed on the lower side of the pod 1.1, two leg rod mounting plates 1.2 are arranged at the rear end of the inside of the main body 1, the two leg rod mounting plates 1.2 are symmetrically arranged about the center plane of the main body 1, and a connecting lug 1.3 is arranged at the lower end of the inside of the main body 1.

[0029] As shown in Figure 2As shown, the kangaroo robot has a set of jumping mechanism on each side, and the two sets of jumping mechanism are the same in principle and left-right symmetrical. Take the right side jumping mechanism as an example: the rear leg 3 is a plate structure, the upper end of the rear leg 3 is installed on the outside of the right leg rod mounting plate 1.2 and constitutes a rotating pair, the leg swinging motor 10 is fixedly installed on the inside of the right leg rod mounting plate 1.2, and the leg swinging motor 10 is connected with the upper end of the rear leg 3 through a worm gear reducer, so that the leg swinging motor 10 can drive the rotation of the rear leg 3; the guide sleeve 11 is vertically provided with a smooth round hole inside, the lower end of the guide sleeve 11 is provided with an upper bowl structure 11.1 opening downward, and the upper bowl structure 11.1 is coaxial with the smooth round hole, the guide sleeve 11 is further provided with a transverse round hole, the transverse round hole is located on the front side of the smooth round hole and partially intersects through, and the rear end of the guide sleeve 11 is rotationally connected with the front side of the upper end of the rear leg 3.

[0030] As shown in the figure, Figure 2 The elastic rod 4 is a round rod structure, a baffle is arranged at the upper end of the elastic rod 4, a lower bowl structure 4.1 is arranged near the lower end of the elastic rod 4, the lower bowl structure 4.1 opens upward and is coaxial with the elastic rod 4, a straight rack is vertically arranged on the front side of the upper half of the elastic rod 4, and the elastic rod 4 is coaxially installed in the smooth round hole in the guide sleeve 11 and can move up and down; the take-off spring 12 is coaxially installed with the elastic rod 4 and located between the upper bowl structure 11.1 and the lower bowl structure 4.1, so that the upward movement of the elastic rod 4 can compress the take-off spring 12; the support foot 5 is an arc surface structure, the lower side of the arc surface structure is covered with a layer of rubber pad 5.1, the rubber pad 5.1 is used to increase the friction between the support foot 5 and the ground, the rear end of the support foot 5 is rotationally connected with the lower end of the rear leg 3, and the lower end of the elastic rod 4 is rotationally connected with the upper side of the support foot 5.

[0031] As shown in the figure, Figure 2 , Figure 3As shown, the clutch motor 13 comprises a gear 16, a horizontal shifting sleeve 17, an output shaft 18, an external spline 18.1, a return spring 19, an electromagnet 20, a horizontal shifting mandrel 21, a shifting lever 22, wherein the output shaft 18 is the output rotating component of the clutch motor 13, the clutch motor 13 is internally integrated with an encoder and a brake device, the encoder can enable the output shaft 18 to realize precise angular rotation, the brake device can stably lock the rotation of the output shaft 18, and the left end of the output shaft 18 is provided with an external spline 18.1; the left end of the gear 16 is provided with a gear structure, and the right end is provided with a sliding sleeve 16.1, the inside of the sliding sleeve 16.1 is coaxially provided with an internal spline, the sliding sleeve 16.1 is coaxially installed with the output shaft 18, and the internal spline and the external spline 18.1 cooperate to form a spline transmission structure, and the outside of the sliding sleeve 16.1 is provided with an annular groove; the horizontal shifting sleeve 17 is a circular ring structure, both sides of which are provided with two coaxial short shafts, the horizontal shifting sleeve 17 is installed in the annular groove on the outside of the sliding sleeve 16.1 and forms a rotating pair; the upper side of the clutch motor 13 is fixedly provided with an electromagnet 20, the horizontal shifting mandrel 21 is installed in the center of the electromagnet 20 and can move left and right, the right end of the horizontal shifting mandrel 21 is installed with a return spring 19, and the left end of the horizontal shifting mandrel 21 is provided with a vertical rectangular hollow slot; the lower end of the shifting lever 22 is provided with two long holes, the two long holes are respectively installed with the short shafts on both sides of the horizontal shifting sleeve 17, so that the two short shafts can slide relative to each other in the two long holes, a rotating circular hole is arranged at an upper position of the shifting lever 22, the rotating circular hole is rotatably connected with the shell of the clutch motor 13 through a rotating shaft, and the upper end of the shifting lever 22 is installed in the rectangular hollow slot at the left end of the horizontal shifting mandrel 21; the clutch motor 13 is fixedly installed on the inside of the guide sleeve 11, and the gear 16 is located in the horizontal circular hole on the guide sleeve 11; thus, after the electromagnet 20 is powered off, the horizontal shifting mandrel 21 moves right under the elastic force of the return spring 19, the gear 16 moves right through the shifting lever 22 and the horizontal shifting sleeve 17, and the gear 16 is disengaged from the engagement with the straight toothed rack on the elastic rod 4; the suction force generated after the electromagnet 20 is powered on can make the horizontal shifting mandrel 21 move right, the gear 16 moves left through the shifting lever 22 and the horizontal shifting sleeve 17, so that the gear 16 can be engaged with the straight toothed rack; the left end of each gear tooth of the gear 16 is provided with an inclined surface, which can play a guiding role and facilitate the engagement of the gear 16 with the straight toothed rack when the gear 16 moves left.

[0032] As shown in the drawings, Figure 4 As shown, the tail 2 is rotatably connected to the rear end of the main body 1 at the lower side of the front end, the tail 2 is thick at the front end and thin at the rear end, two irregular weight-reducing holes are arranged near the front end of the tail 2, which can reduce the weight and increase the specific gravity of the tail end, which is conducive to controlling the overall balance through the tail 2; the lower end of the electric cylinder 15 is rotatably connected to the connecting lug 1.3, and the upper end of the electric cylinder 15 is rotatably connected to the upper side of the front end of the tail 2, so that the extension of the electric cylinder 15 can make the tail 2 rotate downward, and the contraction of the electric cylinder 15 can make the tail 2 rotate upward.

[0033] As shown in the drawings,Figure 1 , Figure 4 , Figure 5 As shown, the kangaroo-like robot has a set of forearm mechanisms on each side. The two forearm mechanisms operate on the same principle and are symmetrical. Taking the right forearm mechanism as an example: the upper forearm 6 is a hollow structure with a horizontally arranged circular shaft 6.1 on its upper right side. The upper end of the upper forearm 6 is rotatably mounted on the right side of the main body 1. The upper arm motor 14 integrates an encoder and a brake, enabling precise angular rotation and locking positioning. The upper arm motor 14 is fixedly mounted inside the right side of the main body 1, and the circular shaft 6.1 is tightly connected to the output shaft hole of the upper arm motor 14, thus allowing the upper arm motor 14 to drive the swinging and positioning of the upper forearm 6. The lower arm motor 23 integrates an encoder and a brake, and can... For precise angular rotation and locking positioning, the forearm motor 23 is fixedly installed on the upper left side of the front upper arm 6. The output end of the forearm motor 23 is coaxially provided with a first pulley 23.1, which is a synchronous pulley structure. The rear end of the front forearm 7 is rotatably connected to the lower end of the front upper arm 6. A second pulley 7.2 is provided on the right side of the front forearm 7. The second pulley 7.2 is a synchronous pulley structure and is located inside the front upper arm 6. The synchronous belt 24 is installed between the first pulley 23.1 and the second pulley 7.2, so that the forearm motor 23 can drive the swing and positioning of the front forearm 7 through the synchronous belt structure. The roller 7.1 is installed at the front end of the front forearm 7 and forms a rotating pair.

[0034] Example 1: The power and control unit 9 integrates a lithium battery pack and a data processing system. The data processing system can process the motion parameters of the kangaroo robot in real time and control each power component. The gyroscope sensor 8 can detect the dynamic parameters of the kangaroo robot, such as pitch angle, acceleration, and spatial movement speed, in real time and feed the parameters back to the data processing system in real time.

[0035] Example 2: Standing method of a kangaroo-like robot: as follows Figure 6 As shown, the two supporting legs 5 support the ground, the tail 2 rotates downward and supports the ground, the transverse spindle 21 moves to the right so that the gear 16 extends to the left and meshes with the rack on the elastic rod 4, the clutch motor 13 drives the elastic rod 4 to move downward so that the main body 1 stands upright. At this time, the two supporting legs 5 and the tail 2 form a three-point support, realizing the stable standing of the kangaroo robot.

[0036] Example 3: Jumping method of a kangaroo-like robot: as follows Figure 7 , Figure 8As shown, first, the horizontal shaft 21 moves to the right, so that the gear 16 extends to the left and engages with the straight rack on the elastic rod 4. The clutch motor 13 drives the elastic rod 4 to move upward, so that the take-off spring 12 is compressed and stored. At this time, the main body 1 is tilted forward. In this process, the gyroscope sensor 8 can detect the tilt angle of the main body 1 in real time, and the two swing leg motors 10 control the angle of the two rear legs 3 to fine-tune the tilt angle of the main body 1 in real time. At the same time, the electric cylinder 15 controls the rotation angle of the tail 2 to make the kangaroo robot always keep balance. After the take-off spring 12 is stored, the electromagnet 20 is powered off, the horizontal shaft 21 moves to the left under the elastic force of the reset spring 19, and the gear 16 moves to the right under the action of the horizontal rod 22 and the horizontal rod 17. The gear 16 disengages with the straight rack, so that the elastic rod 4 moves downward under the elastic force of the take-off spring 12, and the two supporting feet 5 apply pressure to the ground, realizing the take-off action of the kangaroo robot.

[0037] After the kangaroo robot takes off, the gyroscope sensor 8 detects the tilt angle of the main body 1 in the air in real time, and the data processing system controls the two swing leg motors 10 to rotate according to the tilt angle of the main body 1 in the air, so that the two rear legs 3 rotate forward by an appropriate angle to prepare for the landing action of the kangaroo robot. In this process, the tilt angle of the main body 1 in the air can be adjusted by rotating the tail 2.

[0038] When the kangaroo robot lands, the two supporting feet 5 first contact the ground, and then the main body 1 continues to move downward and compresses the take-off spring 12. When the gyroscope sensor 8 detects that the downward movement speed of the main body 1 is zero, it means that the take-off spring 12 has been stored. At this time, the electromagnet 20 is powered off, the horizontal shaft 21 moves to the left under the elastic force of the reset spring 19, so that the gear 16 moves to the right and disengages with the straight rack. In this process, the tail 2 can rotate in real time, so that the main body 1 always maintains a balanced posture. Continuous take-off and landing actions can realize the continuous jumping of the kangaroo robot.

[0039] Example four: turning method of kangaroo robot: as shown, Figure 9 First, the gears 16 of the two clutch motors 13 engage with the straight racks on the corresponding elastic rods 4. The two swing leg motors 10 rotate to make the main body 1 tilt forward. At the same time, the center of gravity of the kangaroo robot is adjusted by rotating the tail 2. The two front arms 6 are driven by the two large arm motors 14 to swing forward, and the front small arm 7 is driven by the small arm motor 23 to swing downward, so that the two rollers 7.1 contact the ground and provide support for the kangaroo robot.

[0040] When turning left, first the right clutch motor 13 drives the right elastic rod 4 to move down, so that the front end of the right supporting leg 5 supports the ground, then the right leg swinging motor 10 drives the back leg 3 to swing back to a certain angle, then the clutch motor 13 drives the elastic rod 4 to move up, then the leg swinging motor 10 drives the back leg 3 to swing forward to the initial position, and the above actions are repeated several times, so that the kangaroo robot turns left;

[0041] When turning right, first the left clutch motor drives the left elastic rod to move down, so that the front end of the left supporting leg supports the ground, then the left leg swinging motor drives the left back leg to swing back to a certain angle, then the left clutch motor drives the left elastic rod to move up, then the left leg swinging motor drives the left back leg to swing forward to the initial position, and the above actions are repeated several times, so that the kangaroo robot turns right.

Claims

1. A kangaroo-like robot, characterized by, The utility model relates to a kind of kangaroo robot, including: Main body, it is hollow structure inside, two leg rods mounting plates are equipped in the rear end of main body inside, the cabin surrounded by baffle is equipped in the upper end of main body inside, power and control unit is fixedly installed in cabin, gyroscope sensor is fixedly installed in the downside of cabin, one set of jumping mechanism is installed in the left and right sides of main body respectively; Tail, its front end is rotatably connected with the rear end of main body, electric cylinder is installed in the inside of main body and can control the up-down swing of tail, tail can help kangaroo robot to stand, and also can keep the posture balance of kangaroo robot during jumping process; Rear leg, its upper end is installed on the outside of right leg rod mounting plate and constitutes rotating pair, leg swinging motor is fixedly installed on the inside of right leg rod mounting plate and can drive the swing of rear leg; Guide sleeve, a smooth round hole is vertically arranged in the inside of guide sleeve, upper bowl structure with opening downward is arranged in the lower end of guide sleeve, a transverse round hole is further arranged in guide sleeve, rear end of guide sleeve is rotatably connected with the front side of upper end of rear leg; Elastic rod, its main body is round rod structure, lower bowl structure is arranged on elastic rod, and a straight rack is vertically arranged on the front side of upper half of elastic rod, elastic rod is coaxially installed in the smooth round hole in the inside of guide sleeve and can move up and down, take-off spring is installed between upper bowl structure and lower bowl structure, so that elastic rod moves upward can compress take-off spring; Supporting foot, its downside is arc surface structure, rear end of supporting foot is rotatably connected with the lower end of rear leg, the upper side of supporting foot is rotatably connected with the lower end of elastic rod; Clutch motor, fixedly installed in the inside of guide sleeve, outer spline is arranged on the left end of output shaft of clutch motor, gear and output shaft constitute spline transmission structure, transverse pushing sleeve is rotatably connected with the right end of gear, pushing rod is rotatably connected with the shell of clutch motor and constitutes lever structure, electromagnet is fixedly arranged on the upper side of clutch motor, transverse moving mandrel is installed in the inside of electromagnet and can move left and right, reset spring is installed on the right end of transverse moving mandrel, transverse moving mandrel can move gear left and right through pushing rod; Two front arm mechanisms are installed on the left and right sides of main body respectively, the upper end of front big arm in front arm mechanism is rotatably connected with main body, the lower end is rotatably connected with the rear end of front small arm, and the front end of front small arm is provided with a roller;When turning, two front arm mechanisms can provide support for kangaroo robot.

2. A kangaroo-like robot according to claim 1, characterized in that: The power and control unit integrates lithium battery pack and data processing system, the data processing system can process motion parameters of kangaroo robot in real time and control each power component.

3. The kangaroo robot according to claim 1, wherein: The gyroscope sensor can detect dynamic parameters of pitch angle, acceleration and space moving speed of kangaroo robot in real time, and feed back parameters to data processing system in real time.

4. The kangaroo robot according to claim 1, wherein: The downside of supporting foot is covered with a layer of rubber pad, which is used to increase the friction between supporting foot and ground.

5. The kangaroo robot according to claim 1, wherein: The left end of each gear tooth is provided with an inclined surface, which can guide the gear to mesh with the straight rack when moving left.

6. The kangaroo robot according to claim 1, wherein: The tail is thick at the front and thin at the rear, two irregular weight-reducing holes are arranged near the front end of the tail, which can reduce weight while increasing the specific gravity of the tail end, which is conducive to controlling the overall balance through the tail.

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