JumpRoACH: A Trajectory-Adjustable Integrated Jumping–Crawling Robot

Jung, Gwang-Pil; Casarez, Carlos S.; Lee, Jongeun; Baek, Sang-Min; Yim, Sojung; Chae, Soo-Hwan; Fearing, Ronald S.; Cho, Kyu-Jin

doi:10.1109/tmech.2019.2907743

Cited by 64 publications

(22 citation statements)

References 28 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In contrast, the driving gear rotates counterclockwise and drives the tie rod to rotate counterclockwise through a one-way bearing such that the transition gear is separated from the driven gear, the mechanism releases energy, and the robot performs its jumping movement. Although the clutch is similar to the clutch used by the JumpRoACH robot [20], there are underlying differences in its application principles. In the clutch we designed, the meshing and separation of the transition gear and the driven wheel are realized by the driving wheel driving the tie bar through a one-way bearing, while the clutch of the JumpRoACH robot is realized directly by the meshing force between the gears.…”

Section: Height-adjustable Triggering Mechanismmentioning

confidence: 99%

“…This soft robot's control system consists of eight BMX100 SMA coils, and different values of the voltage will produce different deformations, making it possible for the soft robot to achieve corresponding heights [19]. The JumpRoACH robot generates variable energy in order to reach appropriate sites using a planetary gear system [20]. Taking into account energy utilization rates and the environmental adaptation of the robots, the second method will indubitably have more promising developments.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Biologically Inspired Height-Adjustable Jumping Robot

Wei

Kong

2021

Applied Sciences

View full text Add to dashboard Cite

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.

show abstract

Section: Height-adjustable Triggering Mechanismmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Biologically Inspired Height-Adjustable Jumping Robot

Wei

Kong

2021

Applied Sciences

View full text Add to dashboard Cite

show abstract

“…Lots of the soft robots are inspired by natural creatures, such as octopus [6,7], fish [8,9], elephant trunk [10,11], and inchworms [12,13]. Those bionic soft robots are capable of achieving adaptive and complex motion patterns such as grabbing [14], climbing [15], swimming [16], crawling [17], and jumping [18]. While crawling is one of the motions that has been studied intensely, as it is particularly suitable for tasks such as drug delivery, rescue, and infrastructure inspection [19].…”

Section: Introductionmentioning

confidence: 99%

A Twisted and Coiled Polymer Artificial Muscles Driven Soft Crawling Robot Based on Enhanced Antagonistic Configuration

Zhang

Zheng

2022

Machines

View full text Add to dashboard Cite

Twisted and coiled polymer (TCP) actuators are becoming increasingly prevalent in soft robotic fields due to their powerful and hysteresis-free stroke, large specific work density, and ease of fabrication. This paper presents a soft crawling robot with spike-inspired robot feet which can deform and crawl like an inchworm. The robot mainly consists of two leaf springs, connection part, robot feet, and two TCP actuators. A system level model of a soft crawling robot is presented for flexible and effective locomotion. Such a model can offer high-efficiency design and flexible locomotion of the crawling robot. Results show that the soft crawling robot can move at a speed of 0.275 mm/s when TCP is powered at 24 V.

show abstract

“…Lussier developed an amphibious robot that combines crawling and flying, which can crawl, take off, and land on smooth/rough surfaces [10,11]. Robots that combine crawling and jumping modes can expand traversability in unstructured environments [12], and there are robots that mimic the locomotion strategies of vampire bats (MultiMo-Bat) and locusts (Jump-flapper), with capabilities of jumping and flying [13,14]. In the bimodal robot "LEONARDO", the combination of bipedal movement and flight movement not only improves the robot's movement ability, but also results in flexible and stable motion [15].…”

Section: Introductionmentioning

confidence: 99%

Mechanism Design of a Transformable Crawling Robot and Feasibility Analysis for the Unstructured Environment

et al. 2022

View full text Add to dashboard Cite

The better application of crawl robots depends on their ability to adapt to unstructured environments with significant variations in their structural shape and size. This paper presents the design and analysis of a novel robot with different locomotion configurations to move through varying environments. The leg of the robot, inspired by insects, was designed as a multi-link structure, including the Hoekens linkage and multiple parallel four-link mechanisms. The end trajectory was a symmetrical closed curve composed of an approximate straight line and a shell curve with a downward opening. The special trajectory allowed the robot to share drives and components to achieve structural deformation and locomotion. The structural characteristics of the crawl robot on the inner and outer arcs were obtained based on the working space. The constraint relationship between the structure size, the radius of the arc, and the coefficient of static friction with which the robot could crawl on the arc were established. The feasible support posture and support position of the robot under different arc radii were obtained. The simulation tested the locomotion of the robot on the plane, arc, and restricted space. The robot can be used for detection, search, and rescue missions in unstructured environments.

show abstract

JumpRoACH: A Trajectory-Adjustable Integrated Jumping–Crawling Robot

Cited by 64 publications

References 28 publications

A Biologically Inspired Height-Adjustable Jumping Robot

A Biologically Inspired Height-Adjustable Jumping Robot

A Twisted and Coiled Polymer Artificial Muscles Driven Soft Crawling Robot Based on Enhanced Antagonistic Configuration

Mechanism Design of a Transformable Crawling Robot and Feasibility Analysis for the Unstructured Environment

Contact Info

Product

Resources

About