A Biologically Inspired Height-Adjustable Jumping Robot

Abstract

This paper presents the design and development of a miniature integrated jumping and running robot that can adjust its route trajectory and has passive self-righting. The jumping mechanism of the robot was developed by using a novel design strategy that combines hard-bodied animal (springtail) and soft-bodied animal (gall midge larvae) locomotion. It could reach a height of about 1.5 m under a load of 98.6 g and a height of about 1.2 m under a load of 156.8 g. To enhance the jumping flexibility of the robot, a clutch system with an adjustable height and launch time control was used such that the robot could freely switch to appropriate jumping heights. In addition, the robot has a shell with passive righting to protect the robot while landing and automatically self-righting it after landing, which makes the continuous jumping, running, and steering of the robot possible. The two-wheel mechanism integrated at the bottom of the housing mechanism provides the robot with horizontal running locomotion, which is combined with the vertical jumping locomotion to obtain different locomotion trajectories. This robot has the functions of obstacle surmounting, track adjustability, and load- and self-righting, which has strong practical application value.

Directional takeoff, aerial righting, and adhesion landing of semiaquatic springtails

“…In contrast, our springtail inspired jumping robot, which is ten times lighter, can achieve similar performance to the aforementioned one (Figure 7), but it can right itself using a simple aerodynamic torque, similar to that observed in springtails. A recent robot design based on springtails and midges has the ability to right itself in mid-air (42). However this robot is an order of magnitude larger and four orders heavier than ours.…”

“…Collembolans' jumping performance has been extensively studied in terms of locomotion (2)(3)(4), morphology (4-6), behavior (7)(8)(9), energetics (10), and computational modeling (11). It has inspired the design of mechanical jumpers (12,13) and robots (14). Previous biomechanical studies suggested that springtails' jumping, and particularly their landing, are uncontrollable and unpredictable (2,12), given that these wingless arthropods can reach impressive body rotations in mid-air (∼500 Hz, see (13)).…”

The Steering Jump Control of a Locust Bio‐Robot via Asynchronous Hindleg Kickings

“…The typical mechanism was to turn first and then jump: Jollbot relied on the outer rolling surface and moving of the center of its gravity to achieve direction control; [ 8 ] Joel Burdick and Paolo Fiorini's robot employed an active steering mechanism by a bearing rotated about the vertical axis; [ 9 ] Ma et al's robot mounted two wheels at the bottom of the robot's shell to change its orientation. [ 10 ] Additional steering structures could significantly increase the mass and size of the robot. Specifically, the EPFL jumper V3 was 7.32 g heavier and 13 cm taller than EPFL jumper V1 after having the steering function and upright ability.…”

Main Problems Using DEM Modeling to Evaluate the Loose Soil Collection by Conceptual Machine as a Background for Future Extraterrestrial Regolith Harvesting DEM Models

“…Three-dimensional printing is already very common in the preparation of prototypes and elements of research test stands [10][11][12]. The use of 3D printing techniques in this approach allows for quick geometry modification and express testing of other configurations and it is also used for space applications [13,14]. Unfortunately, this approach also has many disadvantages, some of which are covered in this article.…”