72 results about "Jumping robot" patented technology

The invention relates to the technical field of micro-robots, in particular to a novel piezoelectric three-legged jumping type robot and a control method thereof.The method includes the steps that a base of the robot is machined on beryllium copper through a laser cutting method, and then a piezoelectric ceramic piece is pasted on the base of the robot through epoxy resin glue; and finally, the piezoelectric driving legs are bent to obtain the appearance of the robot. And then a driving circuit and a lithium battery are connected, so that the motion mode of the robot can be controlled. Specifically, by changing a piezoelectric ceramic piece at the top of a body and applying voltages in different directions to piezoelectric driving legs, the piezoelectric driving legs continuously generate contraction and extension deformation, movement of the piezoelectric robot is achieved, and by applying voltages to different legs, displacement in a specific direction can be achieved. The piezoelectric ceramic piece on the top of the body can play a role in amplifying displacement of a single leg, and the robot can jump by applying voltage to the three legs and the ceramic piece on the top at the same time.

The invention relates to a piezoelectric and electromagnetic composite driving microminiature jumping robot structure. The two Z-shaped piezoelectric legs are symmetrically installed on the bottom face of the platform, the fan-shaped foot soles are arranged at the bottoms of the Z-shaped piezoelectric legs respectively, the electromagnetic driving device is located between the two Z-shaped piezoelectric legs, the vertical energy storage springs are located on the two sides of the electromagnetic driving device, and the direction adjusting legs are arranged at the bottom of the electromagnetic driving device. Each Z-shaped piezoelectric leg is provided with an electric ceramic piece polarized in the thickness direction. According to the invention, the Z-shaped piezoelectric legs cooperate with the attraction / repulsive force generated by the electromagnetic device through the bending deformation of the piezoelectric ceramic piece in a d31 mode to cooperatively compress the vertical energy storage spring to realize energy storage; and during release, spring energy and electromagnetic thrust are superposed to push the robot to realize high-energy-density jumping, so that the problem of low energy storage density of the miniature jumping robot is solved, and the miniature jumping robot has the characteristics of compact structure, strong obstacle crossing ability and high motion controllability.

The bionic frog jumping robot can highly simulate and restore the appearance and jumping mode of a frog; the robot comprises a trunk, front limbs and rear limbs. The trunk is provided with a motor serving as a power source and an incomplete gear transmission mechanism serving as power transmission; the front limb is composed of simple rod pieces and used for supporting before jumping and landing buffering after jumping. A planar four-bar mechanism is adopted by the rear limb as an executing mechanism, and a rigid spring is installed and used for storing and discharging elastic potential energy. When the frog energy storage device is used, meshing and non-meshing of the incomplete gear are utilized to drive the winding disc to enable the pull rope to contract or loosen, stretching or contracting of the rigid spring is completed, energy storage and instant release of elastic potential energy are achieved, forward and upward bouncing movement of a frog is simulated, the pull rope is connected with the posterior limb ankle connecting piece, and in the energy storage process, the elastic potential energy can be stored and released instantly. When the frog jumping bionic robot is used, the ankle connecting piece is stressed, the jumping mode that the posterior limbs step on the ground can be simulated, the jumping explosive force of the frog jumping bionic robot is increased, and the frog jumping bionic robot has the farther jumping distance.

The utility model discloses a bionic frog jumping robot which comprises a body part, front limb parts, rear limb parts, rear leg force storage guide parts and racks, the body part simulates the body of a frog, the front limb parts simulate the front legs and the front palms of the frog, the rear leg parts simulate the rear legs and the rear palms of the frog, and the body part comprises a shell and a driving mechanism arranged in the shell. The driving mechanism comprises a steering engine and a battery used for supplying power to the steering engine, the steering engine drives the body part to move relative to the posterior limb parts through the driving rack, so that the rear leg force storage guide parts store elastic potential energy, and the rear leg force storage guide parts achieve jumping of the robot by releasing the elastic potential energy and guide jumping of the posterior limb parts. The robot can jump forwards continuously and land stably, and the robot is simple and compact in structure, flexible and efficient in transmission and power storage, small in number of parts, convenient to disassemble and assemble and high in bouncing capacity.

A bionic pedaling and jumping foot of a lunar surface jumping robot belongs to the technical field of engineering bionics, and comprises a sole component, three bionic toes and a bionic toe tip, the sole assembly is provided with a leg connecting piece and a plurality of through cavities; the bionic toes are connected with the sole assembly through first metatarsophalangeal joints to form axial symmetry distribution, the included angle between every two adjacent toes is 20 degrees, and each bionic toe is provided with a bionic toe cavity. The tail end of the bionic toe tip is provided with a bionic foot thorn, and the bionic toe tip is connected with the bionic toe through a second metatarsophalangeal joint; the rigid rope penetrates through the sole cavity and the bionic toe cavity, one end of the rigid rope is connected with the leg bouncing mechanism, and the other end of the rigid rope is fixed to the round rod of the bionic toe tip. Foot end joints are kept in a relaxed posture by torsion springs in a natural state; the rigid rope pulls the tension spring to store energy and is locked by the ratchet mechanism, and the toes are synchronously driven to contract to form a sand grabbing and fixing state; during starting, the motor drives the ratchet wheel to release energy, the tension spring contracts to realize pedaling action, and the torsion spring synergistically releases energy to enhance jumping performance. A high-adaptability foot end solution is provided for the celestial body exploration robot, and the trafficability and movement stability of complex terrains are effectively improved.

The invention relates to the field of jumping robots, in particular to a hydraulically-driven two-degree-of-freedom coupling type humanoid-leg jumping robot and a control method thereof. The overall structure of the robot simulating jumping of the human legs is composed of a driving assembly, a thigh assembly and a shank assembly. The designed jumping robot is simplified into an SLIP model, a PID controller is adopted in the jumping process to achieve control over the flying phase of the jumping robot, and a PD controller is adopted in the landing phase for control. The hydraulic cylinders are far away from the legs, so that the hydraulic cylinders are driven to move to the upper body, and the whole robot has better attractiveness. And meanwhile, the lightweight design of the legs is achieved, the inertia of the legs is reduced, and the robot has more stable dynamic performance. And the vertically placed hydraulic cylinder is designed, so that the driving efficiency is further improved, and finally, more efficient bionic jumping movement is realized.

The crawling and jumping robot comprises a base plate, a cover plate, a motor bracket, a motor positioning support, a driving motor, a power source, an elastic front leg, an elastic rear leg, a rear leg connecting rod and a shifting piece. The motor bracket is arranged below the base plate and is connected with the base plate and the cover plate through connecting columns; the driving motor is arranged on the motor bracket; a motor positioning bracket is arranged on the motor fixing shaft; the upper end of the motor positioning bracket is connected with the cover plate; the power supply is used for providing direct current for the driving motor; the elastic front legs and the elastic rear legs are used for providing support and storing elastic potential energy; the shifting piece is installed on an output shaft of the motor and used for achieving various motions of the robot under driving of the driving motor. The robot is high in anti-overturning performance and good in motion robustness, and environment self-adaptive overturning can be achieved after the robot topples over; the gait modes are multiple, the exercise efficiency is high, and unconstrained exercise can be achieved in most unknown environments. The invention has the characteristics of low cost, simple structure and manufacturing process, and miniaturization.

The utility model discloses a two-stage energy storage jumping robot. The two-stage energy storage jumping robot comprises a rack and a plurality of jumping legs arranged on the rack, each bouncing leg comprises a thigh rod, a shank rod, a first-stage energy storage structure, a second-stage energy storage structure and a bouncing driving mechanism; one end of the thigh rod is hinged to the rack, and the other end is hinged to the shank rod; the primary energy storage structure acts between the thigh rod and the rack; the secondary energy storage structure acts between the thigh rod and the shank rod; the bounce driving mechanism is used for driving deformation to store elastic potential energy; the first-stage energy storage structure and the second-stage energy storage structure are used for correspondingly enabling the thigh rod and the shank rod to swing when elastic potential energy of the first-stage energy storage structure and the second-stage energy storage structure is released, so that the robot jumps upwards, and due to the fact that the second-stage spring is used for storing energy, high jumping height and distance can be provided for the robot.

The utility model discloses a bionic frog jumping robot which comprises a trunk, a spring compression frame, a cam and worm wheel connector, rear legs, front legs, a worm, a motor, a compression spring and a torsion spring. The trunk is connected with the front legs and is in sliding connection with the spring compression frame; a connector on the worm is fixedly connected with a rotating shaft of the motor and rotates synchronously with the rotating shaft, and a worm body of the worm is meshed with a worm gear on the cam worm gear connector; the rear leg comprises a thigh upper part, a thigh lower part and a shank lower part, the shank upper part and the rear sole form a parallelogram through mutually connected nodes of the thigh upper part, the thigh lower part, the shank lower part and the shank upper part; the compression spring is sleeved on the spring sleeve rod of the trunk; and the torsional spring is arranged at the joint of the thigh lower part and the shank lower part. The utility model has the advantages of high energy utilization rate, stable and reliable action, simple structure, low manufacturing difficulty and long service life, and can realize long-distance jumping and change the jumping distance and height.

According to the bionic jumping robot, a rear leg mechanism comprises an energy storage assembly and a rear leg rod assembly, the rear leg rod assembly mainly comprises thigh rods and shank rods, the pair of thigh rods and the pair of shank rods are movably connected through first connecting pieces, and each thigh rod is movably connected with the corresponding shank rod through a second connecting piece. Therefore, the thigh rods and the shank rods are hinged end to end through the connecting pieces to form a closed hexagon, namely a six-rod structure, a pair of gears of the first connecting piece is one side of the hexagon, the overall degree of the bionic jumping robot is high, and therefore the strength and stability are good; an incomplete gear mechanism of the front leg mechanism can be driven by a transmission part to achieve energy storage of an energy storage assembly and can be disengaged at an incomplete gear to release energy storage of the energy storage assembly, the structural design of the bionic jumping robot is simplified, a certain point in a six-rod structure serves as a force application point in the transmission process of the transmission part, and therefore the mechanical performance of the bionic jumping robot is improved. The transmission link is simplified, so that the transmission efficiency is higher.

A kind of small water surface jumping robot based on crank slider mechanism imitating locust, it relates to a kind of small water surface jumping robot based on crank slider mechanism imitating locust.The present application is to solve the problems that the existing water surface jumping robot is small in size, energy storage is not enough, and cannot well utilize the resistance of water, and is difficult to realize functional application.The present application includes driving system, transmission system, two spherical foam legs, energy storage system, main body support system and rectangular foam leg;Two spherical foam legs are arranged side by side at the front end of the main body support system, the rectangular foam leg is installed at the rear end of the main body support system, the driving system is installed at the lower part of the main body support system, the transmission system is installed in the main body support system, and the energy storage system is installed at the top of the main body support system;Driving system is connected with energy storage system, and energy storage system is connected with transmission system.The present application belongs to the technical field of bionic robot.

The bionic frog robot comprises front limbs, rear limbs and a body frame, a front rotating shaft is installed in front of the body frame, the front limbs are installed on the front rotating shaft, and a front driving motor and an attitude sensor are installed on the upper surface of the body frame; the front driving motor drives the front rotating shaft to rotate in a vertical transmission mode, the rear rotating shaft is installed on the rear portion of the body frame, the two ends of the rear rotating shaft are installed at the eccentric positions of the cams, the rear driving motor is installed on the upper surface of the body frame and drives the rear rotating shaft to rotate in a vertical transmission mode, and frog-shaped palms are arranged at the front ends of the posterior limbs. Guiding pieces are mounted at the rear ends of the hind limbs and connected with the stand columns of the body frame through force storage springs; the cam phase locking technology is applied to the jumping robot, the three-stage cam structure achieves the work cycle of energy storage, locking and releasing, continuous jumping is achieved, and the interval of continuous jumping is greatly shortened.

The utility model discloses a bionic frog jumping robot, which belongs to the technical field of bionic robots and comprises a main shell, an integrated board is mounted in the main shell, a bionic front shell is mounted on the front side of the main shell, and front support legs are mounted on the front side of the bottom of the main shell; the linkage jumping mechanism comprises a synchronizing shaft, the synchronizing shaft penetrates through the integrated plate, the two ends of the synchronizing shaft are movably installed on the two sides of the main shell, second gears are fixed to the two ends of the synchronizing shaft, and first gears are meshed with the upper portions of the second gears; and the transmission mechanism comprises a driving motor installed on the integrated board, and a tenth gear is fixed to the output end of the driving motor. The mechanical structure can simulate the leg structure and the mechanics principle of a frog, the jumping mode of a real frog is used for reference, the robot can complete actions more efficiently and flexibly during jumping, and the jumping mechanism can provide better movement performance and adaptability for the robot.

The utility model discloses a bionic frog jumping robot which comprises a frog bionic shell, a driving steering engine is fixedly installed on the inner side of the lower end of the frog bionic shell, a transmission shaft part at the side end of the driving steering engine is fixedly provided with a transmission single half gear, and the upper side end of the transmission single half gear is connected with a first transmission full gear in a meshed mode. A main transmission shaft column is fixedly installed in the middle of the first transmission full gear, a second transmission full gear is fixedly installed at the outer end of the side, away from the first transmission full gear, of the main transmission shaft column, and the front end of the second transmission full gear is connected with a transmission double-half gear in an engaged mode. A first auxiliary transmission shaft is fixedly installed in the middle of the transmission double-half gear, and first gear upper legs are fixedly installed on the two sides of the outer end of the first auxiliary transmission shaft. According to the frog squatting simulation toy, the squatting action of a frog is integrally simulated, and meanwhile, the effect of integrally simulating the jumping action of the frog can be coherently realized.

The invention provides a jumping robot based on a three-rod six-cable multistable stretch-draw whole. The jumping robot comprises a guide rail, a sliding block, two motors, two connecting rods and six elastic pieces. The sliding block is arranged on the guide rail in an up-down sliding manner; the near ends of the two connecting rods are hinged to the sliding block, and the far ends are arranged on the two sides of the guide rail respectively. Wherein two elastic pieces are connected with the far ends of the two connecting rods and the upper end of the guide rail, one elastic piece is connected with the upper end of the sliding block and the upper end of the guide rail, and the other elastic piece is connected with the lower end of the sliding block and the lower end of the guide rail. Output shafts of the two motors are provided with wire shafts, one motor is arranged at the upper end of the guide rail and connected with the wire shaft and the upper end of the sliding block through a connecting wire, and the other motor is arranged at the lower end of the guide rail and connected with the wire shaft and the lower end of the sliding block through a connecting wire. A design thought based on a multistable stretch-draw integral structure is adopted, and instant efficient release of pre-stored elastic potential energy is achieved through instant transition of the structure among a plurality of stable balance states.

The present invention belongs to the field of robotics technology and discloses a jumping robot, which includes a frame, an explosion drive mechanism, a rotor mechanism and a bouncing mechanism; the explosion drive mechanism and the rotor mechanism are both arranged on the frame; the rotor mechanism can drive the frame to fly; the bouncing mechanism includes a six-link assembly and a base, the six-link assembly includes a first end, a second end and a third end, the first end is hinged to the frame; the second end is driven and connected to the explosion drive mechanism, and the explosion drive mechanism can drive the six-link assembly to move; the third end is hinged to the base, and the base is used to support the ground; the base can be driven by the six-link assembly and bounce on the ground, while driving the frame, the explosion drive mechanism, the rotor mechanism and the six-link assembly to jump. The jumping robot can be driven by an explosion mode, has good environmental protection, and after the jumping robot jumps into the air, the mid-air posture is adjusted, thereby achieving a stable landing of the jumping robot and improving the stability during the jumping process.

The application discloses a crawling and jumping robot, which comprises a base plate, a cover plate, a motor bracket, a motor positioning support, a driving motor, a power supply, elastic front legs, elastic rear legs, a rear leg connecting rod and a shifting piece; the motor bracket is arranged below the base plate and connected with the base plate and the cover plate through connecting columns; the driving motor is arranged on the motor bracket, and a motor positioning support is arranged on a motor fixing shaft; the upper end of the motor positioning support is connected with the cover plate; the power supply is arranged to provide direct current for the driving motor; the elastic front legs and the elastic rear legs are used for providing support and storing elastic potential energy; the shifting piece is installed on a motor output shaft and used for realizing various movements of the robot under the driving of the driving motor. The robot has the advantages of high anti-overturning performance, good movement robustness, environment self-adapting turning over after toppling, multiple gait modes, high movement efficiency and the ability of realizing unbound movement in most unknown environments. The application has the characteristics of low cost, simple structure and manufacturing process and miniaturization.

This application discloses a flying and jumping robot, including a flying body and a jumping mechanism connected to the body. The jumping mechanism includes a swing motor and a jumping leg. The jumping leg is rotatably connected to the body. The swing motor is disposed on the body and connected to the jumping leg through a transmission mechanism to drive the jumping leg to rotate relative to the body. During the robot's take-off phase, the swing motor can independently drive the jumping leg to rotate and reorient itself. The jumping leg's direction adjustment can be completed without tilting the entire body, avoiding trajectory deviation and imbalance / falling problems, and improving the posture stability and reliability of the robot's combined flight and jumping motion.

The application discloses a kind of bionic frog robots, including body unit, rear leg unit, power unit and energy storage unit, rear leg unit is rotatably connected with body unit;Power unit is installed in body unit;Energy storage unit includes energy storage assembly, support assembly, pusher assembly and connecting rod, energy storage assembly is connected with power unit, support assembly and pusher assembly, and support assembly is connected with rear leg unit by connecting rod.Compared with prior art, the energy storage assembly of the bionic frog robot provided by the application stores energy when the support assembly is in the supporting state, and after the energy storage is completed, the support assembly is changed from the supporting state to the release state by the pusher assembly, the energy storage assembly releases energy and drives the rear leg unit to move;Instead of traditional cam mechanism, the bionic frog jumping robot is more compact and portable in structure, which not only helps to improve the flexibility and maneuverability of the robot, but also reduces the consumption of energy and prolongs the endurance of the robot.

The application discloses a bionic frog jumping robot, which comprises a head, a trunk, bionic forelimbs, springing hind limbs and supporting hind feet. The head comprises an upper end plate, and the head is connected with the trunk through the upper end plate. The bionic forelimbs are symmetrically arranged on both sides of the front part of the trunk. The supporting hind feet comprise a lower end plate. The springing hind limbs are arranged along the length direction of the trunk at the rear part of the trunk and are connected with the trunk through the upper end plate and the lower end plate. The supporting hind feet are arranged at the rear side of the lower end plate and directly contact the ground. The application is based on the work accumulation principle, breaks through the natural limitation of the limited single burst energy of biological jumping, greatly improves the upper limit of energy storage, has high jumping performance and can realize the crossing of complex environments.

The utility model discloses a bionic frog jumping robot with a coiling trigger type structure. The bionic frog jumping robot comprises a trunk shell, a spring, a hollow shaft, a pull wire, a tail structure, front legs and rear legs. The upper end of the hollow shaft is slidably connected with the trunk shell, the lower end of the hollow shaft is fixedly connected with the tail structure, the hollow shaft is sleeved with the spring, a driving device and a rotating shaft are arranged in the trunk shell, a barbell sleeve is detachably and fixedly arranged on the tail structure, and the two ends of the pull wire are fixedly connected with the rotating shaft and the barbell sleeve respectively. The two ends of the rear legs are hinged to the trunk shell and the tail structure respectively, when the trunk shell compresses the spring to a certain degree, the barbell sleeve is separated from the tail structure, and the take-off action occurs at the moment when the pulling force of the pull wire disappears. According to the device, energy is effectively accumulated through the unique winding device, energy is instantly released through an automatic release mechanism, and efficient energy storage and powerful jumping are achieved; the device is simple in structure and easy to operate, and has good controllability and stability.

The utility model discloses a bionic frog jumping robot based on an incomplete gear mechanism. The bionic frog jumping robot comprises a rack, a bionic front limb mechanism, a bionic rear limb mechanism, a jumping driving mechanism and a force bearing rod. A distance measuring assembly and a control system are mounted on the rack; the bionic forelimb mechanism is mounted on one side of the rack; the bionic posterior limb mechanism is rotationally connected to the side, away from the bionic foreleg mechanism, of the rack. The jumping driving mechanism comprises a driving assembly and an incomplete gear pair, and the driving assembly is installed on the rack; the driving assembly is in transmission connection with the bionic posterior limb mechanism through an incomplete gear pair; the force bearing rod is mounted on the bionic posterior limb mechanism; an elastic force storage component is installed between the force bearing rod and the rack, and a pull rope is fixedly installed between the force bearing rod and the output end of the incomplete gear pair. The robot is simple in structure, light in weight, stable in landing, capable of jumping continuously and high in bounce capacity, and autonomous obstacle avoidance and remote control can be achieved by carrying the distance measuring assembly.

The application provides a bow-shaped bouncing robot, which is composed of a power device, a bouncing system and a controller. The bouncing system comprises a winding rope mechanism and at least three bow-shaped elastic strips, the bow-shaped elastic strips are provided with bowstrings, the winding rope mechanism is used for pulling the bowstrings to store power for the bow-shaped elastic strips, and the controller is used for controlling the forward and reverse rotation of the power device. The power device drives the winding rope mechanism to realize continuous jumping of the robot. The bow-shaped bouncing robot has the characteristics of rigid body and soft body jumping robots, and has the characteristics of low cost, easy disassembly and assembly, continuous bouncing, small size and flexibility, and adaptability to various complex environments.

The utility model discloses a bionic mechanical frog driven by a direct current motor, which comprises a frog body, a front support leg is arranged at the front lower part of the frog body, a rear support leg is arranged at the rear part of the frog body, and an energy storage device is arranged on the rear support leg; a transmission device is arranged in the machine body, the energy storage device enables the rear supporting leg to jump through the transmission device, the front supporting leg comprises a front thigh, a front shank and a front sole, the front thigh is connected with the machine body, the front shank is connected to the tail end of the front thigh, the front sole is connected to the tail end of the front shank, and the front thigh is connected with the machine body through a pin. A rear leg beam is arranged on the rear portion of the machine body, the rear supporting leg is hinged to the rear leg beam, the rear supporting leg comprises a rear thigh, a rear shank and a rear sole, the rear thigh is connected with the machine body, the rear shank is connected to the tail end of the rear thigh, the rear sole is connected to the tail end of the rear shank, and the rear thigh is fixed to the rear end in the machine body through the rear leg beam. The bionic frog jumping robot is simple in structure and convenient to produce and use.

The invention discloses a bouncing robot with the adjustable bouncing direction and angle, and belongs to the technical field of robots, the bouncing robot comprises spring steel, an upper-layer disc, a middle-layer disc, a transmission assembly and an adjusting assembly, and the multiple pieces of spring steel surround and are vertically arranged between the upper-layer disc and the middle-layer disc; the upper end and the lower end of the spring steel are fixedly connected to the lower surface of the upper-layer disc and the upper surface of the middle-layer disc correspondingly. The transmission assembly is used for adjusting the distance between the upper-layer disc and the middle-layer disc; the adjusting assembly is used for adjusting the movement directions of the upper-layer disc and the middle-layer disc; according to the invention, efficient obstacle crossing can be realized.

The utility model belongs to the technical field of robots, and particularly relates to a bionic jumping robot. Comprising a rack, a front limb mechanism, a rear limb mechanism, a driving mechanism and a control module, the rear limb mechanism comprises a sole part, a first connecting rod assembly and a second connecting rod assembly connected to the sole part through a pin shaft, and the ends, away from the sole part, of the first connecting rod assembly and the second connecting rod assembly of an elastic part are connected and slidably connected to the rack through pin shafts; the driving mechanism is used for driving the first connecting rod assembly and the second connecting rod assembly to bend and releasing acting force after the elastic piece stretches and accumulates force, and continuous jumping of the hind limb mechanism is achieved. Through bending of a connecting rod assembly of the hind limb mechanism, an elastic piece is stretched to store force, stored energy is released, and jumping is achieved. The linkage design of the first connecting rod assembly and the second connecting rod assembly reduces the loss of energy in conversion. And continuous multi-time jumping can be achieved, biological motion characteristics are closer, and the jumping performance can be improved.

The invention discloses a single-foot jumping robot motion control method based on coupling flow model driving, and the method comprises the steps: outputting a decision action through an intelligent agent strategy model, and carrying out the online interaction with a single-foot jumping robot, and collecting a real environment sample; an environment dynamic model is constructed through a probabilistic neural network, and the model is trained in a supervised learning mode to simulate the motion state of the robot; building a coupling flow model by utilizing a multi-layer coupling structure, converting the output distribution difference into a reward signal, and realizing dynamic optimization of an environment model by reconstructing a Markov decision process and combining with a reinforcement learning algorithm; and finally, interacting the intelligent agent strategy with the calibrated environment model to generate a high-precision simulation sample, and combining with a real sample to complete strategy iteration updating. According to the method, accumulated rewards equivalent to model-free reinforcement learning can be achieved only through a small amount of environment interaction, and the learning efficiency and the model generalization ability of a single-foot jumping robot strategy are remarkably improved.

The invention discloses a bionic frog jumping robot. The bionic frog jumping robot comprises a head, a trunk, bionic front limbs, jumping rear limbs and supporting rear legs; the head part comprises an upper end plate, and the head part is connected with the trunk through the upper end plate; the bionic forelegs are distributed and placed on the two sides of the front part of the trunk in a bilateral symmetry manner; the supporting rear leg comprises a lower end plate; the bouncing hind limbs are arranged on the rear portion of the trunk in the body length direction and connected with the trunk through an upper end plate and a lower end plate. The supporting rear feet are arranged on the rear side of the lower end plate and make direct contact with the ground. Based on the principle of acting accumulation, the natural limitation of limited energy of single burst of jumping in the biological field is broken through, the upper limit of energy storage is greatly improved, extremely high jumping performance is achieved, and climbing over the complex environment can be achieved.

The invention provides a lunar surface jumping robot. The lunar surface jumping robot comprises a trunk, a driving device, a transmission mechanism, a leg structure and a control system, the driving device is in driving connection with the leg structure through the transmission mechanism, and the driving device and the transmission mechanism are used for achieving compression energy storage and expansion energy release of the leg structure; and the driving device and the transmission mechanism are connected with the control system. The device has the advantages of sufficient energy storage, active energy release and static self-locking, and can adapt to the low-gravity, soft lunar soil and gradient ground environment of the lunar surface.

The present application relates to the field of fiber patching manipulators, and in particular to a method, device, equipment and medium for controlling a fiber patching manipulator. The method includes: the present application can quickly respond to wiring requests, automatically calculate the optimal path, and quickly and accurately complete the steps of grabbing, moving and inserting optical fiber jumpers by automatically controlling the fiber patching manipulator, which not only greatly shortens the wiring time, but also reduces the labor intensity of the staff, reduces the labor cost in the fiber patching operation, and improves the overall work efficiency. Automated control can also realize real-time monitoring and recording of the wiring process, which is convenient for subsequent operation and maintenance management and troubleshooting. By recording and analyzing the wiring process, the wiring path and operation method can be continuously optimized, and the level of operation and maintenance management can be further improved.