{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,4]],"date-time":"2026-04-04T17:53:44Z","timestamp":1775325224235,"version":"3.50.1"},"reference-count":31,"publisher":"Cambridge University Press (CUP)","issue":"8","license":[{"start":{"date-parts":[[2024,9,12]],"date-time":"2024-09-12T00:00:00Z","timestamp":1726099200000},"content-version":"unspecified","delay-in-days":42,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2024,8]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The ability of quadruped robots to overcome obstacles is a critical factor that limits their practical application. Here, a design concept and a control algorithm are presented that aim at enhancing the explosive force of quadruped robots during jumping by utilizing elastic energy storage components. The hind legs of the quadruped robot are designed as energy storage units. Tension springs are utilized as components for storing energy and are installed in a parallel structure on the hind leg. Energy is stored during the compression process of the robot\u2019s torso and released during the jumping phase. The optimal foot force is calculated using a single rigid body model. The mapping relationship between the force applied to the foot and the resulting joint torque is established by developing a dynamic model of the hind legs. Simulation experiments were conducted using the Webots physics engine to compare the impact of varying spring stiffness on joint torque during the jumping process. This study determined the optimal spring stiffness under specific conditions. The hind legs\u2019 torque saving ratio reaches 19%, and the energy-saving ratio reaches 13%, which validates the effectiveness and feasibility of integrating elastic energy storage components.<\/jats:p>","DOI":"10.1017\/s026357472400095x","type":"journal-article","created":{"date-parts":[[2024,9,12]],"date-time":"2024-09-12T10:25:32Z","timestamp":1726136732000},"page":"2548-2565","source":"Crossref","is-referenced-by-count":4,"title":["Research on the biomimetic quadruped jumping robot based on an efficient energy storage structure"],"prefix":"10.1017","volume":"42","author":[{"given":"Tianyu","family":"Zhang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6879-0537","authenticated-orcid":false,"given":"Jieliang","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chenyang","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qun","family":"Niu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shaoze","family":"Yan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2024,9,12]]},"reference":[{"key":"S026357472400095X_ref25","doi-asserted-by":"crossref","unstructured":"[25] Kova\u010d, M. , Fauria, O. , Zufferey, J. and Floreano, D. , \u201cThe EPFL jumpglider: A hybrid jumping and gliding robot with rigid or folding wings,\u201d In: 2011 IEEE International Conference on Robotics and Biomimetics, (2011) pp. 1503\u20131508.","DOI":"10.1109\/ROBIO.2011.6181502"},{"key":"S026357472400095X_ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2020.103703"},{"key":"S026357472400095X_ref13","doi-asserted-by":"publisher","DOI":"10.1115\/1.4054616"},{"key":"S026357472400095X_ref29","doi-asserted-by":"crossref","unstructured":"[29] Yim, J. K. and Fearing, R. S. , \u201cPrecision jumping limits from flight-phase control in salto-1p,\u201d In: 2018 IEEE\/RSJ international conference on intelligent robots and systems (IROS), (2018) pp. 2229\u20132236.","DOI":"10.1109\/IROS.2018.8594154"},{"key":"S026357472400095X_ref28","doi-asserted-by":"crossref","unstructured":"[28] Haldane, D. W. , Yim, J. K. and Fearing, R. 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G. , Vanderborght, B. , Yang, Y. and Caldwell, D. G. , \u201cHyQ-Hydraulically actuated quadruped robot: Hopping leg prototype,\u201d In: 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, (2008) pp. 593\u2013599.","DOI":"10.1109\/BIOROB.2008.4762913"},{"key":"S026357472400095X_ref1","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2023.114550"},{"key":"S026357472400095X_ref6","doi-asserted-by":"crossref","unstructured":"[6] Di Carlo, J. , Wensing, P. M. , Katz, B. , Bledt, G. and Kim, S. , \u201cDynamic locomotion in the mit cheetah 3 through convex model-predictive control,\u201d In: 2018 IEEE\/RSJ international conference on intelligent robots and systems (IROS), (2018) pp. 1\u20139.","DOI":"10.1109\/IROS.2018.8594448"},{"key":"S026357472400095X_ref20","doi-asserted-by":"publisher","DOI":"10.1155\/2018\/5369427"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S026357472400095X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,11,12]],"date-time":"2024-11-12T06:20:59Z","timestamp":1731392459000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S026357472400095X\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,8]]},"references-count":31,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2024,8]]}},"alternative-id":["S026357472400095X"],"URL":"https:\/\/doi.org\/10.1017\/s026357472400095x","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,8]]}}}