Fig. 4: Kangaroo-inspired high-speed and high-frequency robot.
From: A non-electrical pneumatic hybrid oscillator for high-frequency multimodal robotic locomotion
a Mechanical design of the robotic kangaroo. b i: the motion of a kangaroo, which jumps with its rear legs, and uses its tail to maintain balance; ii: the robotic counterpart mimicking this posture; iii: schematic diagram of the kangaroo-inspired robot, where β is the initial angle of the assembled rear leg and ф, half of the rotation range; iv: anisotropy friction of the rear leg. c Similar running gaits between a real kangaroo and the robotic one. d High-speed running with a tunable actuation frequency. e Characterization of the jumping speed under different initial angles. Shaded regions represent 1 standard deviation. f Characterization of the jumping step length under different initial angles. Shaded regions represent 1 standard deviation. g Characterization of the ground duty cycle ratio.
