Aiming and vaulting: Spider inspired leaping for jumping robots

Faraji, Hossein; Tachella, Ramsey; Hatton, Ross L.

doi:10.1109/icra.2016.7487357

Cited by 11 publications

(10 citation statements)

References 18 publications

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“…[24][25][26] The hypothesis that hydraulic work extends joints is still discussed, 22,27 but inspired many robots and applications. [28][29][30] A spider-inspired leg joint included a pressurized plastic bag, with good static torque characteristics, but dynamic losses. 31 A pneumatically actuated finger joint with bellow-like joint structures provides intrinsic compliance during manipulation.…”

Section: Fig 2 Simplified Viewmentioning

confidence: 99%

A Novel Spider-Inspired Rotary-Rolling Diaphragm Actuator with Linear Torque Characteristic and High Mechanical Efficiency

Hepp

Badri-Spröwitz

2022

Soft Robotics

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We present a novel, fluid-driven rotary-rolling diaphragm actuator with direct rotary output. Its working principle is inspired by the spider leg's hydraulically operated joints and the diaphragm design of rolling diaphragm actuators. The new actuator is fully sealed, shows minimal output torque losses, and minimum friction during operation. Stiction and Coulomb friction are avoided by design. Our proposed mechanism can be used as a compliant actuator in soft robots, or as a stiff transmission device, depending on the fluid and working pressure. The rotary-rolling diaphragm is the defining component of the actuator. The diaphragm is based on silicone rubber, reinforced by a fabric with anisotropic tensile strength characteristics. The diaphragm is custom-designed to follow the actuator's toroidal shape and to ensure the smooth unrolling behavior throughout the stroke. Our actuator outputs a constant torque throughout its stroke compared with monolithic, rotary soft robot actuators with a change in torque. Our design offers a high mechanical efficiency of 95%, compactness, a wide working range of 100°, and a low mechanical complexity from a single chamber.

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Section: Fig 2 Simplified Viewmentioning

confidence: 99%

A Novel Spider-Inspired Rotary-Rolling Diaphragm Actuator with Linear Torque Characteristic and High Mechanical Efficiency

Hepp

Badri-Spröwitz

2022

Soft Robotics

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“…Faraji et al proposed a spider-inspired jumping robot [73,74], which mimics the anatomy of jumping spiders [75] and whose hind legs are specifically dedicated to take-off powering, while their front legs adjust the take-off angle in the same way as locusts.…”

Section: Invertebratesmentioning

confidence: 99%

Jumping Locomotion Strategies: From Animals to Bioinspired Robots

Mo,

Ge,

Miraglia

et al. 2020

Applied Sciences

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Jumping is a locomotion strategy widely evolved in both invertebrates and vertebrates. In addition to terrestrial animals, several aquatic animals are also able to jump in their specific environments. In this paper, the state of the art of jumping robots has been systematically analyzed, based on their biological model, including invertebrates (e.g., jumping spiders, locusts, fleas, crickets, cockroaches, froghoppers and leafhoppers), vertebrates (e.g., frogs, galagoes, kangaroos, humans, dogs), as well as aquatic animals (e.g., both invertebrates and vertebrates, such as crabs, water-striders, and dolphins). The strategies adopted by animals and robots to control the jump (e.g., take-off angle, take-off direction, take-off velocity and take-off stability), aerial righting, land buffering, and resetting are concluded and compared. Based on this, the developmental trends of bioinspired jumping robots are predicted.

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“…Stability is of paramount importance for successful deployment of legged robots. However, balance and control of legged robots is a difficult problem resulting from multiple complexities: system nonlinearity, naturally unstable dynamics, limited foot–ground interaction, and discretely changing dynamics due to support transfer [1,2,3,4,5,6,7,8,9]. There are generally two definitions of stability in legged robots.…”

Section: Introductionmentioning

confidence: 99%

Control Synergies for Rapid Stabilization and Enlarged Region of Attraction for a Model of Hopping

Zamani

Bhounsule

2018

Biomimetics

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Inspired by biological control synergies, wherein fixed groups of muscles are activated in a coordinated fashion to perform tasks in a stable way, we present an analogous control approach for the stabilization of legged robots and apply it to a model of running. Our approach is based on the step-to-step notion of stability, also known as orbital stability, using an orbital control Lyapunov function. We map both the robot state at a suitably chosen Poincaré section (an instant in the locomotion cycle such as the mid-flight phase) and control actions (e.g., foot placement angle, thrust force, braking force) at the current step, to the robot state at the Poincaré section at the next step. This map is used to find the control action that leads to a steady state (nominal) gait. Next, we define a quadratic Lyapunov function at the Poincaré section. For a range of initial conditions, we find control actions that would minimize an energy metric while ensuring that the Lyapunov function decays exponentially fast between successive steps. For the model of running, we find that the optimization reveals three distinct control synergies depending on the initial conditions: (1) foot placement angle is used when total energy is the same as that of the steady state (nominal) gait; (2) foot placement angle and thrust force are used when total energy is less than the nominal; and (3) foot placement angle and braking force are used when total energy is more than the nominal.

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Aiming and vaulting: Spider inspired leaping for jumping robots

Cited by 11 publications

References 18 publications

A Novel Spider-Inspired Rotary-Rolling Diaphragm Actuator with Linear Torque Characteristic and High Mechanical Efficiency

A Novel Spider-Inspired Rotary-Rolling Diaphragm Actuator with Linear Torque Characteristic and High Mechanical Efficiency

Jumping Locomotion Strategies: From Animals to Bioinspired Robots

Control Synergies for Rapid Stabilization and Enlarged Region of Attraction for a Model of Hopping

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