Development of a Controllable and Continuous Jumping Robot

摘要：

A miniature robot with continuous jumping ability is presented in this paper. The robot has a dimension about 6cm×8cm×2cm and weighs 20 grams. To achieve continuous jumping, various mechanisms are needed including the jumping mechanism, energy store and release mechanism, self-righting mechanism, and jumping direction changing mechanism. The design and analysis for those mechanisms are elaborated in this paper. Moreover, implementation and experimental results are also presented. It is shown that the robot can jump higher than 55cm with a 75° takeoff angle. The robot can be used as mobile sensors and deployed in the areas of rugged terrain and natural obstacles which are not suitable for sensors with wheels.

作者: Jianguo Zhao Ning Xi Bingtuan Gao Matt W. Mutka Li Xiao

作者单位: Department of Electrical and Computer Engineering,Michigan State University,East Lansing,MI,48824,US School of Electrical Engineering,Southeast University,Nanjing,210096,China Department of Computer Science and Engineering,Michigan State University,East Lansing,MI,48824,USA

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 4614-4619

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）