中文摘要：

针对仿蛙跳跃机器人在起跳阶段脚掌与地面之间的被动约束，提出了一种考虑脚掌欠驱动的起跳加速性能度量方法。建立了机器人的起跳分析模型，提出了用虚拟加速度和虚拟力矩来表达质心加速度与主动关节驱动力矩的关系，确定了适于冗余欠驱动机器人的动态可操作矩阵，给出了仿蛙跳跃机器人在给定方向质心加速性能的动态方向可操作度量指标。算例表明，当在不同位形输入恒定力矩时，质心在给定方向的瞬时加速度与动态方向可操作度的变化趋势一致，表明了提出的度量方法对质心加速性能指标的评价是可行的。

英文摘要：

Considering the passive constraints between the soles of the bionic frog jumping robot with the ground in the take- off stage,a measure of take-off acceleration performance for the robot with under-actuated soles was proposed. The take-off analysis model of robot was built, and the concept of virtual torque and vir- tual acceleration was proposed to express the relationship between drive torque of active joint and acceleration of center of mass, and a dynamic directional manipulability measure for under-actuated and redundant system was determined, and the dynamic direction manipulability measure index was given for the centroid accelera- tion performance of bionic fi＇og jumping robot in the take-off pro- cess. Examples show that, when active joints were driven with constant torques at different configurations, the change trend ot instantaneous eentroid acceleration in a given direction is consis- tent with that of the improved dynamic direction manipulabilit） measure, which indicates that the proposed measure method for the evaluation of the mass center accelerated performance index feasible.