2P1-R10 Stair-step Jump by Palm-top Jumping Robot using Arch-type Closed Elastica supported by Q-Shaped Frame

Fukamachi, Naofumi; Mochiyama, Hiromi

doi:10.1299/jsmermd.2015._2p1-r10_1

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“…The preliminary Japanese version of this paper has presented at a Japanese conference [15], but this paper includes a completely new design of the catapult, frame and blade for higher jumping capability and a new function of turning by crawling.…”

Section: Our Proposalmentioning

confidence: 99%

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Palm-top jumping and crawling robot using snap-through buckling of arched elastica supported by Ω-shaped frame

Fukamachi

Mochiyama

2015

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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In this paper, we propose a compact jumping robot using snap-through buckling of an arched closed elastica supported by an Ω-shaped frame in an effort to quick stair climbing. The proposed jumping robot is a modified version of an existing robot using spatially deformable arch-type closed elastica, but has much higher jumping capability due to the following two effects of the Ω-shaped frame. One is appropriate elasticity for supporting the elastica, which drastically enhances the ability to generate impulsive forces for jumping. The other one is easy adjustment of the mass balance of the robot so that the tip of the leg attached to the closed elastica, with which the robot applies the impulse force to the ground, pushes near the ground point below its center of gravity. Experimental results using a palm-top 54. 5[g] prototype show that the compact and lightweight robot can jump over 200[mm] corresponding to the height of a normal stair step in spite of having a 40[g] payload.We also show that the robot can turn by back-and-forth twist motions of the closed elastica which generates motions of the blade rubbing the ground.

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Section: Our Proposalmentioning

confidence: 99%

“…4. Jumping of the robot using snap-through buckling of the closed elastica [15] elastica, and the angles between the orientation of each end point of a elastica and that of the corresponding rotor axis as shown in Fig. 5.…”

Section: B Catapult Designmentioning

confidence: 99%

Palm-top jumping and crawling robot using snap-through buckling of arched elastica supported by Ω-shaped frame

Fukamachi

Mochiyama

2015

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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2P1-R10 Stair-step Jump by Palm-top Jumping Robot using Arch-type Closed Elastica supported by Q-Shaped Frame

Cited by 1 publication

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Palm-top jumping and crawling robot using snap-through buckling of arched elastica supported by Ω-shaped frame

Palm-top jumping and crawling robot using snap-through buckling of arched elastica supported by Ω-shaped frame

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2P1-R10 Stair-step Jump by Palm-top Jumping Robot using Arch-type Closed Elastica supported by Q-Shaped Frame

Cited by 1 publication

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Palm-top jumping and crawling robot using snap-through buckling of arched elastica supported by &#x2126;-shaped frame

Palm-top jumping and crawling robot using snap-through buckling of arched elastica supported by &#x2126;-shaped frame

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Palm-top jumping and crawling robot using snap-through buckling of arched elastica supported by Ω-shaped frame

Palm-top jumping and crawling robot using snap-through buckling of arched elastica supported by Ω-shaped frame