哈尔滨工业大学工学硕士学位论文 Abstract The research on bionic hopping robots is becoming a popular subject recently due to its characters of strong obstacle-overleaping ability and great field and environment adaptability.Analyzing the previous frog-inspired hopping robot,the optimization and improvement programs are proposed and verification for the new robot is made in ADAMS.The mathematical models of the pneumatic muscles were built by experimental method and the position control method for pose alignment of the robot was designed.Besides,a control system is proposed in this dissertation and to realize different jumping modes. The ideal mathematical model of the pneumatic artificial muscle was derived. Based on the ideal model and considering the factors which affect the muscle characteristics,a new improved mathematical model was deduced.Then the improved model was compared with the experimental curves and ideal mathematical model.Considering the demands of designing controller for pneumatic muscle,in this dissertation,a modeling method which builds simple mathematical model of pneumatic muscle was proposed,and the mathematical models for the pneumatic muscles used in the robot were built with the proposed modeling method.Furthermore the correctness of this model was verified by the experiment. Considering the influence of the take-off angle on the jumping performance and based on the mathematical model of the pneumatic muscle,a control strategy for pneumatic muscle by the fuzzy control and double-layer PID control was proposed in this dissertation to adjust the take-off angle of the robot.The system simulation was made in the MATLAB Simulink and the accuracy of the control strategy was tested in the experiment. With improving and optimizing the mechanism design deficiencies,a new robot is designed.The force sensors and angle sensors is equipped on the new robot, thus the robot has the ability of force/angle closed-loop control and angle acquisition of joints.Besides,ADAMS simulation was performed to test the jumping ability of the new robot. Experimental platform of the bionic hopping robot control system is bulit,and the robot pose alignment and jumping experiments are conducted based on the experimental platform to validate the proposed muscle position control strategy and the effectiveness of control system.In jumping experiments,the robot's abilities to broad-jump,high jump and climbing over obstacle were tested repeatedly to find out the factors which affect the jumping performance.This experiment laid a哈尔滨工业大学工学硕士学位论文 II Abstract The research on bionic hopping robots is becoming a popular subject recently due to its characters of strong obstacle-overleaping ability and great field and environment adaptability. Analyzing the previous frog-inspired hopping robot, the optimization and improvement programs are proposed and verification for the new robot is made in ADAMS. The mathematical models of the pneumatic muscles were built by experimental method and the position control method for pose alignment of the robot was designed. Besides, a control system is proposed in this dissertation and to realize different jumping modes. The ideal mathematical model of the pneumatic artificial muscle was derived. Based on the ideal model and considering the factors which affect the muscle characteristics, a new improved mathematical model was deduced. Then the improved model was compared with the experimental curves and ideal mathematical model. Considering the demands of designing controller for pneumatic muscle, in this dissertation, a modeling method which builds simple mathematical model of pneumatic muscle was proposed, and the mathematical models for the pneumatic muscles used in the robot were built with the proposed modeling method. Furthermore the correctness of this model was verified by the experiment. Considering the influence of the take-off angle on the jumping performance and based on the mathematical model of the pneumatic muscle, a control strategy for pneumatic muscle by the fuzzy control and double-layer PID control was proposed in this dissertation to adjust the take-off angle of the robot. The system simulation was made in the MATLAB Simulink and the accuracy of the control strategy was tested in the experiment. With improving and optimizing the mechanism design deficiencies, a new robot is designed. The force sensors and angle sensors is equipped on the new robot, thus the robot has the ability of force/angle closed-loop control and angle acquisition of joints. Besides, ADAMS simulation was performed to test the jumping ability of the new robot. Experimental platform of the bionic hopping robot control system is bulit, and the robot pose alignment and jumping experiments are conducted based on the experimental platform to validate the proposed muscle position control strategy and the effectiveness of control system. In jumping experiments, the robot's abilities to broad-jump, high jump and climbing over obstacle were tested repeatedly to find out the factors which affect the jumping performance. This experiment laid a