Biologically inspired jumping robots: A comprehensive review

Zhang, Chi; Zou, Wei; Ma, Liping; Wang, Zhiqing

doi:10.1016/j.robot.2019.103362

Cited by 98 publications

(49 citation statements)

References 150 publications

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“…This is advantageous for robotic applications where power modulation and thrust vector or directional control need to be combined. An example might be jumping robots that rely mostly on a single spring per leg (31) or several coupled springs (32,33). To achieve agile locomotion in more complex terrain, the robot needs to reorient itself (34) by either static (35) or dynamic (36,37) auxiliary control systems.…”

Section: Introductionmentioning

confidence: 99%

A controllable dual-catapult system inspired by the biomechanics of the dragonfly larvae’s predatory strike

et al. 2021

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The biomechanics underlying the predatory strike of dragonfly larvae is not yet understood. Dragonfly larvae are aquatic ambush predators, capturing their prey with a strongly modified extensible mouthpart. The current theory of hydraulic pressure being the driving force of the predatory strike can be refuted by our manipulation experiments and reinterpretation of former studies. Here, we report evidence for an independently loaded synchronized dual-catapult system. To power the ballistic movement of a single specialized mouthpart, two independently loaded springs simultaneously release and actuate two separate joints in a kinematic chain. Energy for the movement is stored by straining an elastic structure at each joint and, possibly, the surrounding cuticle, which is preloaded by muscle contraction. As a proof of concept, we developed a bioinspired robotic model resembling the morphology and functional principle of the extensible mouthpart. Understanding the biomechanics of the independently loaded synchronized dual-catapult system found in dragonfly larvae can be used to control the extension direction and, thereby, thrust vector of a power-modulated robotic system.

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Section: Introductionmentioning

confidence: 99%

A controllable dual-catapult system inspired by the biomechanics of the dragonfly larvae’s predatory strike

et al. 2021

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“…As the size of robots decreases, they likely have to overcome obstacles whose size is comparable or even larger than their own one [24,25]. A bio-mimetic approach suggests that jumping has a great potentiality of success [26][27][28] in rough terrains. In fact, in recent years a large amount of research has focused on the refinement of miniaturized robots inspired by jumping organisms, like, for example, froghoppers [29], locusts [30], insects [27,31,32] or even soft worms [33,34].…”

Section: Discussionmentioning

confidence: 99%

Optimal leap angle of legged and legless insects in a landscape of uniformly distributed random obstacles

et al. 2021

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We investigate theoretically the ballistic motion of small legged insects and legless larvae after a jump. Notwithstanding their completely different morphologies and jumping strategies, some legged and legless animals have convergently evolved to jump with a take-off angle of 60°, which differs significantly from the leap angle of 45° that allows reaching maximum range. We show that in the presence of uniformly distributed random obstacles the probability of a successful jump is directly proportional to the area under the trajectory. In the presence of negligible air drag, the probability is maximized by a take-off angle of 60°. The numerical calculation of the trajectories shows that they are significantly affected by air drag, but the maximum probability of a successful jump still occurs for a take-off angle of 59–60° in a wide range of the dimensionless Reynolds and Froude numbers that control the process. We discuss the implications of our results for the exploration of unknown environments such as planets and disaster scenarios by using jumping robots.

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“…collisions) [58]. With SLIP control, the stiffness is sometimes selected to resemble animal gait [59], just as our model resembles human. Our results suggest that SLIP may actually be reasonably economical, because our model, similar to others modeling dissipation with more detail [27,28], yield optimal force profiles that are still remarkably spring-like.…”

Section: Implications For Legged Robotsmentioning

confidence: 99%

Elastic energy savings and active energy cost in a simple model of running

Schroeder

Kuo

2021

PLoS Comput Biol

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The energetic economy of running benefits from tendon and other tissues that store and return elastic energy, thus saving muscles from costly mechanical work. The classic “Spring-mass” computational model successfully explains the forces, displacements and mechanical power of running, as the outcome of dynamical interactions between the body center of mass and a purely elastic spring for the leg. However, the Spring-mass model does not include active muscles and cannot explain the metabolic energy cost of running, whether on level ground or on a slope. Here we add explicit actuation and dissipation to the Spring-mass model, and show how they explain substantial active (and thus costly) work during human running, and much of the associated energetic cost. Dissipation is modeled as modest energy losses (5% of total mechanical energy for running at 3 m s-1) from hysteresis and foot-ground collisions, that must be restored by active work each step. Even with substantial elastic energy return (59% of positive work, comparable to empirical observations), the active work could account for most of the metabolic cost of human running (about 68%, assuming human-like muscle efficiency). We also introduce a previously unappreciated energetic cost for rapid production of force, that helps explain the relatively smooth ground reaction forces of running, and why muscles might also actively perform negative work. With both work and rapid force costs, the model reproduces the energetics of human running at a range of speeds on level ground and on slopes. Although elastic return is key to energy savings, there are still losses that require restorative muscle work, which can cost substantial energy during running.

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Biologically inspired jumping robots: A comprehensive review

Cited by 98 publications

References 150 publications

A controllable dual-catapult system inspired by the biomechanics of the dragonfly larvae’s predatory strike

A controllable dual-catapult system inspired by the biomechanics of the dragonfly larvae’s predatory strike

Optimal leap angle of legged and legless insects in a landscape of uniformly distributed random obstacles

Elastic energy savings and active energy cost in a simple model of running

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