Agile and Energy-Efficient Jumping–Crawling Robot Through Rapid Transition of Locomotion and Enhanced Jumping Height Adjustment

Chae, Soo-Hwan; Baek, Sang-Min; Lee, Jongeun; Cho, Kyu-Jin

doi:10.1109/tmech.2022.3190673

Cited by 16 publications

(8 citation statements)

References 41 publications

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“…The upgraded robot still reached a height of 1.7 m. For extreme jumping locomotion, Haldane et al [69] proposed a model that can experience acceleration up to 14 times that of earth's gravity. Truong et al [56] performed experiments with a 23 g robot capable of jumping up to 0.9 m. A robot of 105 g weight showing a jumping height of 0.8 m was developed by Chae et al [70]. The designs mentioned above are not developed for FWMAV take-off.…”

Section: Jumpingmentioning

confidence: 99%

Landing and take-off capabilities of bioinspired aerial vehicles: a review

Hammad,

Armanini

2024

Bioinspir. Biomim.

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Bioinspired Flapping-Wing Micro Aerial Vehicles (FWMAVs) haveemerged over the last two decades as a promising new type of robot. Their high thrustto-weight ratio, versatility, safety, and maneuverability, especially at small scales,could make them more suitable than fixed-wing and multi-rotor vehicles for variousapplications, especially in cluttered, confined environments and in close proximity tohumans, flora, and fauna. Unlike natural flyers, however, most FWMAVs currentlyhave limited take-off and landing capabilities. Natural flyers are able to take offand land effortlessly from a wide variety of surfaces and in complex environments.Mimicking such capabilities on flapping-wing robots would considerably enhance theirpractical usage. This review presents an overview of take-off and landing techniques forFWMAVs, covering different approaches and mechanism designs, as well as dynamicsand control aspects. The special case of perching is also included. As well as discussingsolutions investigated for FWMAVs specifically, we also present solutions that havebeen developed for different types of robots but may be applicable to flapping-wingones. Different approaches are compared and their suitability for different applicationsand types of robots is assessed. Moreover, research and technology gaps are identified,and promising future work directions are identified.

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Section: Jumpingmentioning

confidence: 99%

Landing and take-off capabilities of bioinspired aerial vehicles: a review

Hammad,

Armanini

2024

Bioinspir. Biomim.

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“…Hoppers and jugglers relationships are pointed out in [186,15]. Hoppers can be inertially actuated using springs which store potential energy and release it quickly [187,188] and thus recast in section 3.5. Various types of internal mechanisms for creating hopping motions have been designed [188,Table I].…”

Section: Hoppers and Jugglersmentioning

confidence: 99%

“…Hoppers can be inertially actuated using springs which store potential energy and release it quickly [187,188] and thus recast in section 3.5. Various types of internal mechanisms for creating hopping motions have been designed [188,Table I]. Passive hoppers and jugglers (with same dynamics) are studied in [189].…”

Section: Hoppers and Jugglersmentioning

confidence: 99%

Modeling, analysis and control of robot–object nonsmooth underactuated Lagrangian systems: A tutorial overview and perspectives

Brogliato

2023

Annual Reviews in Control

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“…Developing a hybrid robot that can achieve continuous jumping and flying is challenging, particularly when considering the limitations and complexity of conventional jumping mechanisms. Although a few combustion-driven robotic jumpers have been reported (8)(9)(10)(11), previous robots capable of jumping are primarily based on either latched (12)(13)(14)(15)(16)(17)(18)(19)(20)(21)(22)(23)(24)(25)(26)(27)(28)(29)(30) or unlatched (31)(32)(33)(34)(35)(36)(37) actuation mechanisms. The former uses a catch mechanism to enable rapid energy release from mounted elastomer, making varying jump height and continuous hopping difficult.…”

Section: Introductionmentioning

confidence: 99%

An agile monopedal hopping quadcopter with synergistic hybrid locomotion

Bai,

Pan,

Ding

et al. 2024

Sci. Robot.

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Nature abounds with examples of superior mobility through the fusion of aerial and ground movement. Drawing inspiration from such multimodal locomotion, we introduce a high-performance hybrid hopping and flying robot. The proposed robot seamlessly integrates a nano quadcopter with a passive telescopic leg, overcoming limitations of previous jumping mechanisms that rely on stance phase leg actuation. Based on the identified dynamics, a thrust-based control method and detachable active aerodynamic surfaces were devised for the robot to perform continuous jumps with and without position feedback. This unique design and actuation strategy enable tuning of jump height and reduced stance phase duration, leading to agile hopping locomotion. The robot recorded an average vertical hopping speed of 2.38 meters per second at a jump height of 1.63 meters. By harnessing multimodal locomotion, the robot is capable of intermittent midflight jumps that result in substantial instantaneous accelerations and rapid changes in flight direction, offering enhanced agility and versatility in complex environments. The passive leg design holds potential for direct integration with conventional rotorcraft, unlocking seamless hybrid hopping and flying locomotion.

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Agile and Energy-Efficient Jumping–Crawling Robot Through Rapid Transition of Locomotion and Enhanced Jumping Height Adjustment

Cited by 16 publications

References 41 publications

Landing and take-off capabilities of bioinspired aerial vehicles: a review

Landing and take-off capabilities of bioinspired aerial vehicles: a review

Modeling, analysis and control of robot–object nonsmooth underactuated Lagrangian systems: A tutorial overview and perspectives

An agile monopedal hopping quadcopter with synergistic hybrid locomotion

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