Steerable miniature jumping robot

Kovač, Mirko; Schlegel, Manuel; Zufferey, Jean-Christophe; Floreano, Dario

doi:10.1007/s10514-009-9173-4

Cited by 140 publications

(92 citation statements)

References 23 publications

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“…Outer compliant structures can also be exploited to control jumping direction, a problem which is otherwise difficult to solve. The compliant cage presented in [72] was used to protect the leg mechanism and direct the robot, by which a sequence of consecutive jumps was achieved. Finally, fully compliant jumping robots can be designed by exploiting a deformable outer shell and SMA, as illustrated in [73].…”

Section: Jumping Gaitmentioning

confidence: 99%

“…The second core feature of jumping soft robots is the reduced amount of damage sustained in the landing phase. Flexible structures and deformable shells have been used to pursue this goal [3,72], but the whole body could also be made of soft materials to significantly reduce the impact forces at touch-down [71].…”

Section: Exploitation Of Deformable Components Formentioning

confidence: 99%

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Fundamentals of soft robot locomotion

Calisti

Picardi

Laschi

2017

J. R. Soc. Interface.

244

147

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Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human -robot interaction and locomotion. Although field applications have emerged for soft manipulation and human-robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics.

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Section: Jumping Gaitmentioning

confidence: 99%

Section: Exploitation Of Deformable Components Formentioning

confidence: 99%

Fundamentals of soft robot locomotion

Calisti

Picardi

Laschi

2017

J. R. Soc. Interface.

244

147

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show abstract

“…In this section, we describe the EPFL jumper v3 [39] which is a miniature jumping robot with a mass of 14.3 g that uses the same principles for repetitive jumping and uprighting as locusts or fleas. The main requirement in the development of the jumping mechanism is to build a lightweight propulsion unit for jumping robots, where the jumping height and take-off angle can be adjusted.…”

Section: Jumping and Glidingmentioning

confidence: 99%

“…A jump can be executed every 3 s with a power consumption of 350 mW. The reader may refer to [44,39] for a more detailed explanation and characterization of the jumping principles used.…”

Section: Jumping and Glidingmentioning

confidence: 99%

Aerial Locomotion in Cluttered Environments

Floreano¹,

Zufferey²,

Klaptocz³

et al. 2016

Springer Tracts in Advanced Robotics

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Many environments where robots are expected to operate are cluttered with objects, walls, debris, and different horizontal and vertical structures. In this chapter, we present four design features that allow small robots to rapidly and safely move in 3 dimensions through cluttered environments: a perceptual system capable of detecting obstacles in the robot's surroundings, including the ground, with minimal computation, mass, and energy requirements; a flexible and protective framework capable of withstanding collisions and even using collisions to learn about the properties of the surroundings when light is not available; a mechanism for temporarily perching to vertical structures in order to monitor the environment or communicate with other robots before taking off again; and a self-deployment mechanism for getting in the air and perform repetitive jumps or glided flight. We conclude the chapter by suggesting future avenues for integration of multiple features within the same robotic platform.

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“…Such a system has been implemented in some jumping robots ( [17], [15], [18]) and was investigated in early versions of the AirBurr robot [19]. Though quite successful in flat, open spaces, gravity-based recovery has many limitations and does not work in realistic environments that include uneven ground and small obstacles.…”

Section: Mechanical Design For Collision Absorption and Self-recomentioning

confidence: 99%

The AirBurr: A flying robot that can exploit collisions

Briod

Klaptocz

Zufferey

et al. 2012

2012 ICME International Conference on Complex Medical Engineering (CME)

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Abstract-Research made over the past decade shows the use of increasingly complex methods and heavy platforms to achieve autonomous flight in cluttered environments. However, efficient behaviors can be found in nature where limited sensing is used, such as in insects progressing toward a light at night. Interestingly, their success is based on their ability to recover from the numerous collisions happening along their imperfect flight path. The goal of the AirBurr project is to take inspiration from these insects and develop a new class of flying robots that can recover from collisions and even exploit them. Such robots are designed to be robust to crashes and can take-off again without human intervention. They navigate in a reactive way, bump into obstacles, and unlike conventional approaches, they don't need heavy modeling in order to fly autonomously. We believe that this new paradigm will bring flying robots out of the laboratory and allow them to tackle unstructured, cluttered environments.This paper aims at presenting the vision of the AirBurr project, as well as the latest results in the design of a platform capable of sustaining collisions and self-recovering after crashes.Index Terms-Robust bio-inspired indoor flying robot.

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Steerable miniature jumping robot

Cited by 140 publications

References 23 publications

Fundamentals of soft robot locomotion

Fundamentals of soft robot locomotion

Aerial Locomotion in Cluttered Environments

The AirBurr: A flying robot that can exploit collisions

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