Jumping like an insect: Design and dynamic optimization of a jumping mini robot based on bio-mimetic inspiration

Li, Fēi; Liu, Wei-Ting; Fu, Xin; Bonsignori, Gabriella; Scarfogliero, Umberto; Stefanini, Cesare; Dario, P.

doi:10.1016/j.mechatronics.2012.01.001

Cited by 119 publications

(73 citation statements)

References 21 publications

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“…This peculiar locomotion strategy is achieved not only through complex neuro-physiological mechanisms that require time-consuming activation, but also through passive morphological mechanisms, which are always available without the need for any kind of activation. This is also confirmed by a recent analysis published by Li et al (Li et al, 2012), in which similar results on take-off velocity and acceleration were obtained by means of a robotic platform reproducing the insect's leg mechanism and spatial arrangements. This passive optimization of processes, which is essential for survival, is not isolated to the case of C. viridis jumping locomotion.…”

Section: Model Of Hind-leg Kinematicssupporting

confidence: 87%

The green leafhopper,Cicadella viridis(Hemiptera, Auchenorrhyncha, Cicadellidae), jumps with near-constant acceleration

Bonsignori

Stefanini

Scarfogliero

et al. 2013

Journal of Experimental Biology

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SUMMARY Jumping insects develop accelerations that can greatly exceed gravitational acceleration. Although several species have been analysed using different tools, ranging from a purely physical to a morpho-physiological approach, instantaneous dynamic and kinematic data concerning the jumping motion are lacking. This is mainly due to the difficulty in observing in detail events that occur in a few milliseconds. In this study, the behaviour of the green leafhopper, Cicadella viridis, was investigated during the take-off phase of the jump, through high-speed video recordings (8000 frames s−1). We demonstrate that C. viridis is able to maintain fairly constant acceleration during overall leg elongation. The force exerted at the foot–ground interface is nearly constant and differs from the force expected from other typical motion models. A biomechanical model was used to highlight that this ability relies on the morphology of C. viridis hind legs, which act as a motion converter with a variable transmission ratio and use the time-dependent musculo-elastic force to generate a nearly constant thrust at the body–ground interface. This modulation mechanism minimizes the risk of breaking the substrate thanks to the absence of force peaks. The results of this study are of broad relevance in different research fields ranging from biomechanics to robotics.

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Section: Model Of Hind-leg Kinematicssupporting

confidence: 87%

The green leafhopper,Cicadella viridis(Hemiptera, Auchenorrhyncha, Cicadellidae), jumps with near-constant acceleration

Bonsignori

Stefanini

Scarfogliero

et al. 2013

Journal of Experimental Biology

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“…Better understanding the physics of the various modes of locomotion of insects, such as walking and crawling, is crucial in designing better robots. In this regard, beetle [35] and leafhopper [36] legs have been investigated with the help of AM in order to understand how their shapes were linked to their functions (fig2g). A similar approach was conducted to better understand the physics of insect crawling [37,38].…”

Section: Bioinspired Robotsmentioning

confidence: 99%

Additive manufacturing: state of the art and potential for insect science

Jaffar-Bandjee

Casas

Krijnen

2018

Current Opinion in Insect Science

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Additive Manufacturing has become an efficient tool to study insect-inspired biomimetic solutions. Indeed, it can build objects with intricate 3D-shapes and use materials with specific properties, such as soft materials. From biomaterials to biostructures or biosensors, Additive Manufacturing allows more possibilities in terms of design and functions. Reciprocally, insect-inspired technological solutions can be implemented to enhance Additive Manufacturing processes providing for example biocompatible structures that can successfully host living cells. We believe that, thanks to its continuous progress, Additive Manufacturing will play a growing role in the development of insect-inspired solutions.

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“…Due to the differentiation between arthropod bodies, and the diversity of physical changes, which give arthropods a highly adaptive capacity, they have adapted to all sorts of surroundings, maintaining themselves even under the most rigorous conditions. After hundreds of millions of years of evolution, arthropods have become very flexible in their ability to move [33]. Arthropods can hunt prey quickly or avoid predators, and when they run into obstacles or ravines, they can quickly run and jump on the terrain to avoid obstacles.…”

Section: Bio-inspiration and Materialsmentioning

confidence: 99%

Omnidirectional Jump of a Legged Robot Based on the Behavior Mechanism of a Jumping Spider

et al. 2018

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To find a common approach for the development of an efficient system that is able to achieve an omnidirectional jump, a jumping kinematic of a legged robot is proposed based on the behavior mechanism of a jumping spider. To satisfy the diversity of motion forms in robot jumping, a kind of 4 degrees of freedom (4DoFs) mechanical leg is designed. Taking the change of joint angle as inspiration by observing the behavior of the jumping spider during the acceleration phase, a redundant constraint to solve the kinematic is obtained. A series of experiments on three types of jumping-vertical jumping, sideways jumping and forward jumping-is carried out, while the initial attitude and path planning of the robot is studied. The proposed jumping kinematic is verified on the legged robot experimental platform, and the added redundant constraint could be verified as being reasonable. The results indicate that the jumping robot could maintain stability and complete the planned task of jumping, and the proposed spider-inspired jumping strategy could easily achieve an omnidirectional jump, thus enabling the robot to avoid obstacles.

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Jumping like an insect: Design and dynamic optimization of a jumping mini robot based on bio-mimetic inspiration

Cited by 119 publications

References 21 publications

The green leafhopper,Cicadella viridis(Hemiptera, Auchenorrhyncha, Cicadellidae), jumps with near-constant acceleration

The green leafhopper,Cicadella viridis(Hemiptera, Auchenorrhyncha, Cicadellidae), jumps with near-constant acceleration

Additive manufacturing: state of the art and potential for insect science

Omnidirectional Jump of a Legged Robot Based on the Behavior Mechanism of a Jumping Spider

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