MSU Jumper: A Single-Motor-Actuated Miniature Steerable Jumping Robot

Casarez

2016 IEEE International Conference on Robotics and Automation (ICRA)

et al. 2016

In this paper, we propose a trajectory-adjustable integrated milli-scale jumping-crawling robot with improved ability to overcome obstacles compared to a robot that can only crawl. The robot employs a novel jumping module with enhanced energy storing-capacity and a height-adjustable active trigger. To increase the energy-storing capacity, latex rubber and knee-like joints are employed to utilize large displacement of the elastic material. The active trigger is based on a single DC motor and can release stored energy at any state, enabling the robot to control the take-off speed of jumping. The jumping module is integrated with the lightweight Dash crawler. The integrated jumping-crawling robot weighs 59.4 g and controls its moving trajectory by adjusting both its crawling speed and its jumping take-off speed.

Section: Introductionmentioning

confidence: 99%

An integrated jumping-crawling robot using height-adjustable jumping module

Casarez

2016 IEEE International Conference on Robotics and Automation (ICRA)

et al. 2016

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

“…In a manner similar to linear springs, torsional springs can be used in a linkage mechanism to store energy which is released suddenly to initiate a jump [14], [15], [16]. Using this strategy can result in massive power amplification, allowing for very impressive 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014) September 14-18, 2014, Chicago, IL, USA jumps [17].…”

Section: Introductionmentioning

confidence: 99%

An untethered jumping soft robot

Tolley

Shepherd

Karpelson

et al. 2014

169

110

Locomoting soft robots typically walk or crawl slowly relative to their rigid counterparts. In order to execute agile behaviors such as jumping, rapid actuation modes are required. Here we present an untethered soft-bodied robot that uses a combination of pneumatic and explosive actuators to execute directional jumping maneuvers. This robot can autonomously jump up to 0.6 meters laterally with an apex of up to 0.6 meters (7.5 times it's body height) and can achieve targeted jumping onto an object. The robot is able to execute these directed jumps while carrying the required fuel, pneumatics, control electronics, and battery. We also present a thermodynamic model for the combustion of butane used to power jumping, and calculate the theoretical maximum work output for the design. From experimental results, we find the mechanical efficiency of this prototype to be 0.8%.

2016 IEEE International Conference on Robotics and Automation (ICRA)

“…Some investigations of jumping designs that have taken advantage of an assistive leg to jump [11], [12]. The assistive leg can help the robot to steer itself and jump with a desired elevation.…”

Section: Introductionmentioning

confidence: 99%

Aiming and vaulting: Spider inspired leaping for jumping robots

Faraji

Tachella

Hatton

2016

Jumping spiders are capable of targeted jumps by using their front legs to guide the release of energy from their rear legs. In this paper, we present a simplified model of the jumping spider based on the anatomy of the real spider. The immediate goal of this model is to understand how the geometry of the legs affects the jumping motion, with the further goal of using this geometry in the future development of jumping robots. Through a set of simulations, dynamic analysis, and experiments with a physical realization of our model, we identify several features of the spiders' jumping mechanism, most notably that "vaulting" with the front legs allows the system to generate flatter take-off trajectories than could be achieved by simple aiming of a spring-release mechanism.