A compact kick-and-bounce mobile robot powered by unidirectional impulse force generators

Tsuda, Takashi; Mochiyama, Hiromi; Fujimoto, Hideo

doi:10.1109/iros.2009.5354668

Cited by 15 publications

(6 citation statements)

References 10 publications

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“…In addition, our platform with the inverted cam demonstrated balanced high-frequency continuous hopping. Balanced hopping and landing with a single-actuator leg required a selfrighting strategy [15], [27], sprawling posture [16], [29], or extra actuators for balancing [33]. That last strategy also has advantages in more precise position control.…”

Section: Comparison With Other Platformsmentioning

confidence: 99%

Elastic-Actuation Mechanism for Repetitive Hopping Based on Power Modulation and Cyclic Trajectory Generation

et al. 2023

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Animal locomotion results from a combination of power modulation and cyclic appendage trajectories, but combining these two properties in small-sized robots is difficult. Here, we introduce and characterize a new elastic actuation system based on an inverted cam that is capable of generating cyclic locomotion with controlled elastic energy charge and release for small-sized robots. We designed a leg linkage and attached to the inverted cam to develop a single legged hopping platform with one actuated degree of freedom. The hopping platform was able to continuously hop forward at 1.82 Hz. The average horizontal hopping distance was 18.7 cm, and the average forward speed was 0.34 m/s. This speed was corresponding to a Froude number of 0.14. The energy consumed for one hop was 2.09 J, and the corresponding energetic cost of transport was 6.43. The combination of inverted cam and cyclic trajectory generation has the potential to be used in other robotic applications, such as flapping wings in the air and tail fin waving in water.

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Section: Comparison With Other Platformsmentioning

confidence: 99%

Elastic-Actuation Mechanism for Repetitive Hopping Based on Power Modulation and Cyclic Trajectory Generation

et al. 2023

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“…This phase mimics the contraction of muscles. Unlike the compact kick-and-bounce mobile robot in [28], this mechanism does not need high holding force to keep the energy-storing posture. Compared with the asymmetric mechanism [2, 3, 29], this mechanism has novel point that one low-power linear motor actuates the screw to adjust the length of l 5 .…”

Section: Analysis Of One Jumping Cyclementioning

confidence: 99%

Research on one Bio-inspired Jumping Locomotion Robot for Search and Rescue

Wei

2014

International Journal of Advanced Robotic Systems

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Jumping locomotion is much more effective than other locomotion means in order to tackle the unstructured and complex environment in research and rescue. Here, a bio-inspired jumping robot with a closed-chain mechanism is proposed to achieve the power amplification during taking-off. Through actuating one variable transmission mechanism to change the transmission ratio, the jumping robot reveals biological characteristics in the phase of posture adjustment when adjusting the height and distance of one jump. The kinematics and dynamics of the simplified jumping mechanism model in one jumping cycle sequence are analysed. A compliant contact model considering nonlinear damping is investigated for jumping performance under different terrain characteristics. The numerical simulation algorithm with regard to solving the dynamical equation is described and simulation results are discussed. Finally, one primary prototype and experiment are described. The experimental results show the distance of jumping in the horizontal direction increases with the increasing gear ratio, while the height of jumping decreases in reverse. The jumping robot can enhance the capability to adapt to unknown cluttered environments, such as those encountered in research and rescue, using this strategy.

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“…Shimoda [4] and Sakaguchi [5] developed a jumping principal and mechanism using inertia force M. Okada of a mass inside the body. Kovac [6], Curran [7] and Tsuda [8] proposed jumping mechanism using potential energy of a spring. These researches are on development of a mechanism and its control.…”

Section: Introductionmentioning

confidence: 99%

Synthesis and evaluation of non-circular gear that realizes optimal gear ratio for jumping robot

Okada

Takeda

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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For the effective use of motor power, an appropriate gear ratio has to be selected according to the robot task and motion. Because a jumping robot, in particular, requires both high torque and high velocity properties through the motion, a varying gear ratio is necessary. Moreover, it has to be optimally designed and realized. In this paper, we design a jumping robot with a non-circular gear that changes the gear ratio through the motion for the higher jumping. Based on statics, the gear ratio is optimized and change of the gear ratio is obtained by a simulation-based design considering the robot dynamics. So far, we have developed a design method of no-circular gear, and its effectiveness was evaluated by simulation. In this paper, a jumping robot is prototyped, and the effectiveness is evaluated by experiment containing the robustness for the perturbation of robot parameters.

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A compact kick-and-bounce mobile robot powered by unidirectional impulse force generators

Cited by 15 publications

References 10 publications

Elastic-Actuation Mechanism for Repetitive Hopping Based on Power Modulation and Cyclic Trajectory Generation

Elastic-Actuation Mechanism for Repetitive Hopping Based on Power Modulation and Cyclic Trajectory Generation

Research on one Bio-inspired Jumping Locomotion Robot for Search and Rescue

Synthesis and evaluation of non-circular gear that realizes optimal gear ratio for jumping robot

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