Design and Development of the Long-Jumping "Grillo" Mini Robot

Scarfogliero, Umberto; Stefanini, Cesare; Dario, P.

doi:10.1109/robot.2007.363830

Cited by 93 publications

(61 citation statements)

References 12 publications

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“…The most closely related jumping device to the mechanism presented here in terms of weight and size is the Grillo project [9]. However, the prototypes presented so far jump distances of only a few centimeters.…”

mentioning

confidence: 99%

A miniature 7g jumping robot

Kovač

Fuchs

Guignard

et al. 2008

2008 IEEE International Conference on Robotics and Automation

267

174

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Abstract-Jumping can be a very efficient mode of locomotion for small robots to overcome large obstacles and travel in natural, rough terrain. In this paper we present the development and characterization of a novel 5cm, 7g jumping robot. It can jump obstacles more than 27 times its own size and outperforms existing jumping robots by one order of magnitude with respect to jump height per weight and jump height per size. It employs elastic elements in a four bar linkage leg system to allow for very powerful jumps and adjustment of the jumping force, take-off angle and force profile during the acceleration phase.

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mentioning

confidence: 99%

A miniature 7g jumping robot

Kovač

Fuchs

Guignard

et al. 2008

2008 IEEE International Conference on Robotics and Automation

267

174

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show abstract

“…On the basis of the robot's purpose, these two aspects can be more or less related, affecting the design process. For instance, the design of a small jumping robot may be focused on mechanical design issues, rather than aesthetic factors, because of its purpose of suggesting an efficient strategy for fast locomotion in unstructured terrains (Scarfogliero et al, 2007). In contrast, the design of a social robot, aimed at supporting people in daily life activities, requires not only to build a technically robust solution, but also to consider issues of form, behaviour and social interaction (Di Salvo et al, 2002).…”

Section: Related Workmentioning

confidence: 99%

Shybo – Design of a Research Artefact for Human-robot Interaction Studies

Lupetti¹

2017

CITAR Journal

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This article discusses the role of Design Research in the field of Human-Robot Interaction (HRI). Notably, the Research through Design (RtD) approach is proposed as a valuable method to develop HRI research artefacts due to the importance of having a physical artefact, a robot, that enables direct interaction. Moreover, there is a growing interest in HRI for design methodologies as methods for investigation. The article presents an example of a design process, focused on hands-on activities, namely sketching, 3D modelling, prototyping, and documenting. These making practices were applied to the development of Shybo, a small sound-reactive robot for children. Particular attention has been given to the five prototypes that led to the definition of the current solution. Morphological, behavioral, and interaction aspects were investigated throughout the whole process. Each phase of the design process was then documented with the intent of sharing potentially replicable practices and contributing to the understanding of the role that RtD can play in HRI.

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“…For small jumping systems it is most beneficial to first slowly charge an elastic element and then use the legs as a catapult to jump (Roberts and Marsh, 2003;Alexander, 1988;Burrows, 2003;Scarfogliero et al, 2007;Kovac et al, 2008). This way of jumping is used by small animals such as desert locusts (Bennet-Clark, 1975), fleas (Gronenberg, 1996) and frogs (Roberts and Marsh, 2003).…”

Section: Jumping Mechanismmentioning

confidence: 99%

“…As described in section 2.1 the basic principle is to charge a torsion spring and release its energy to extend a four bar leg linkage to jump (figure 3). We use a 4mm DC motor (a) to turn an eccentric cam (b), similar to the one in (Scarfogliero et al, 2007). The motor turns the cam in counterclockwise direction, by way of a four stage gear box (c), in order to charge two torsion springs (d).…”

Section: Jumping Mechanismmentioning

confidence: 99%

“…In robotics, several small jumping robots have been presented so far (Scarfogliero et al, 2007;Lambrecht et al, 2005;Sugiyama et al, 2005;Kovac et al, 2008) but theses systems are not able to upright and steer. In this article we focus on uprighting and steering for jumping robots and we present a novel spherical system with a mass of only 14g (figure 1) that is able to jump, upright itself after landing, steer and jump again.…”

Section: Introductionmentioning

confidence: 99%

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Steerable miniature jumping robot

et al. 2009

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Jumping is used in nature by many small animals to locomote in cluttered environments or in rough terrain. It offers small systems the benefit of overcoming relatively large obstacles at a low energetic cost. In order to be able to perform repetitive jumps in a given direction, it is important to be able to upright after landing, steer and jump again. In this article, we review and evaluate the uprighting and steering principles of existing jumping robots and present a novel spherical robot with a mass of 14g and a size of 18cm that can jump up to 62cm at a take-off angle of 75 • , recover passively after landing, orient itself, and jump again. We describe its design details and fabrication methods, characterize its jumping performance, and demonstrate the remote

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Design and Development of the Long-Jumping "Grillo" Mini Robot

Cited by 93 publications

References 12 publications

A miniature 7g jumping robot

A miniature 7g jumping robot

Shybo – Design of a Research Artefact for Human-robot Interaction Studies

Steerable miniature jumping robot

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