Control design for a bionic kangaroo

Graichen, Knut; Hentzelt, Sebastian; Hildebrandt, A.; Kärcher, Nadine; Gaißert, Nina; Knubben, Elias

doi:10.1016/j.conengprac.2015.05.005

Cited by 48 publications

(24 citation statements)

References 17 publications

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“…To make the structure of this review concise and simple, jumping animals have been classified into three subcategories: invertebrates, vertebrates, and animals jumping in aquatic environments (including invertebrates and vertebrates), as shown in Figures 2-4, instead, show some examples of jumping animals and jumping robotic artifacts respectively. Examples of jumping robots: (a) Multi-legged underwater robot [39]; (b) Leafhopper-inspired jumping robot [38,40]; (c) Bionic-Kangaroo [41].…”

Section: Jumping Animals and Biomimetic Miniature Jumping Robotsmentioning

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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Section: Jumping Animals and Biomimetic Miniature Jumping Robotsmentioning

confidence: 99%

Jumping Locomotion Strategies: From Animals to Bioinspired Robots

Mo,

Ge,

Miraglia

et al. 2020

Applied Sciences

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“…复杂的多自由度, 往往采用多气室 [46] 结构或者串联/并联 [39,50,62] 多个驱动器的方式, 如美国McMahan研究团队 [62] [65,66] 、仿生蝠鲼 [67] 、仿生袋鼠 [68,69] , 如图6所示. 除…”

Section: 纤维约束柔性驱动器在实际应用中为实现更为unclassified

Status of and trends in soft pneumatic robotics

et al. 2020

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“…A continuous hopping robot can recharge its hopping energy in the flying/landing phase, and immediately hop again after contacting the ground, while the intermittent hopping robot needs to realize its energy recharge and hopping attitude adjustment in another ground phase. Currently, continuous hopping robots usually adopt hydraulic [12,13] and pneumatic [14] actuators to realize continuous actuation, which can enable the continuous hopping robot to have high power density and fast drive-response. However, it is still difficult to realize miniaturization and multi-drive coordinated control for them.…”

Section: Introductionmentioning

confidence: 99%

Design and Experimental Evaluation of a Single-Actuator Continuous Hopping Robot Using the Geared Symmetric Multi-Bar Mechanism

et al. 2018

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This paper proposes the design and performance evaluation of a miniaturized continuous hopping robot RHop for unstructured terrain. The hopping mechanism of RHop is realized by an optimized geared symmetric closed-chain multi-bar mechanism that is transformed from the eight-bar mechanism, and the actuator of RHop is realized by a servo motor and the clockwork spring, thereby enabling RHop to realize continuous hopping while its motor rotates continuously only in one direction. Comparative simulations and experiments are conducted for RHop. The results show that RHop can realize better continuous hopping performance, as well as the improvement of energy conversion efficiency from 70.98% to 76.29% when the clockwork spring is applied in the actuator. In addition, comparisons with some state-of-the-art hopping robots are conducted, and the normalized results show that RHop has a better energy storage speed.

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Control design for a bionic kangaroo

Cited by 48 publications

References 17 publications

Jumping Locomotion Strategies: From Animals to Bioinspired Robots

Jumping Locomotion Strategies: From Animals to Bioinspired Robots

Status of and trends in soft pneumatic robotics

Design and Experimental Evaluation of a Single-Actuator Continuous Hopping Robot Using the Geared Symmetric Multi-Bar Mechanism

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