TY - GEN
T1 - Locust-inspired jumping robot with the initial jumping posture control
AU - Diansheng, Chen
AU - Kewei, Chen
AU - Ziqiang, Zhang
AU - Min, Wang
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/12/14
Y1 - 2016/12/14
N2 - To improve the jumping performance, this paper presents a locust-inspired jumping robot with initial body posture adjustment and self-righting mechanisms. A segmental gear, stretching and triggering the spring for storage and rapid release of energy, is used for the jumping mechanism. A pair of front legs driven by an additional motor is used for the initial body posture adjustment. Furthermore, a pole leg is added to the jumping legs to perform the self-righting mechanism. Therefore, the robot can recover its body from the upside down posture on the ground and simultaneously recover the jumping legs and store energy. Experimental results indicate that the jumping robot with the size of 12 cm × 8 cm × 2.9 cm and 300 g weight can jump across the obstacle with the controlled trajectory. The initial body posture can range from 0 deg to 60 deg and will up to 90 deg when stretch the length of forelegs. Furthermore, the robot can recover its body posture on the ground and store the energy for the second jump within 3 s. Our work may provide reference for the further researches of taking-off posture control mechanisms.
AB - To improve the jumping performance, this paper presents a locust-inspired jumping robot with initial body posture adjustment and self-righting mechanisms. A segmental gear, stretching and triggering the spring for storage and rapid release of energy, is used for the jumping mechanism. A pair of front legs driven by an additional motor is used for the initial body posture adjustment. Furthermore, a pole leg is added to the jumping legs to perform the self-righting mechanism. Therefore, the robot can recover its body from the upside down posture on the ground and simultaneously recover the jumping legs and store energy. Experimental results indicate that the jumping robot with the size of 12 cm × 8 cm × 2.9 cm and 300 g weight can jump across the obstacle with the controlled trajectory. The initial body posture can range from 0 deg to 60 deg and will up to 90 deg when stretch the length of forelegs. Furthermore, the robot can recover its body posture on the ground and store the energy for the second jump within 3 s. Our work may provide reference for the further researches of taking-off posture control mechanisms.
UR - https://www.scopus.com/pages/publications/85010037722
U2 - 10.1109/RCAR.2016.7784097
DO - 10.1109/RCAR.2016.7784097
M3 - 会议稿件
AN - SCOPUS:85010037722
T3 - 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016
SP - 597
EP - 602
BT - 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016
Y2 - 6 June 2016 through 9 June 2016
ER -