Research on one Bio-inspired Jumping Locomotion Robot for Search and Rescue

Abstract

Jumping locomotion is much more effective than other locomotion means in order to tackle the unstructured and complex environment in research and rescue. Here, a bio-inspired jumping robot with a closed-chain mechanism is proposed to achieve the power amplification during taking-off. Through actuating one variable transmission mechanism to change the transmission ratio, the jumping robot reveals biological characteristics in the phase of posture adjustment when adjusting the height and distance of one jump. The kinematics and dynamics of the simplified jumping mechanism model in one jumping cycle sequence are analysed. A compliant contact model considering nonlinear damping is investigated for jumping performance under different terrain characteristics. The numerical simulation algorithm with regard to solving the dynamical equation is described and simulation results are discussed. Finally, one primary prototype and experiment are described. The experimental results show the distance of jumping in the horizontal direction increases with the increasing gear ratio, while the height of jumping decreases in reverse. The jumping robot can enhance the capability to adapt to unknown cluttered environments, such as those encountered in research and rescue, using this strategy.

Šešiakojo roboto judėjimo energetinio efektyvumo tyrimas

“…2013, todėl gali prisitaikyti prie praktiškai bet kokio paviršiaus. Dėl šių savybių vaikščiojantys robotai gali būti taikomi gelbėjimo operacijoms (D. Wei et. al.…”

Jumping Locomotion Strategies: From Animals to Bioinspired Robots

“…Compared to robots using conventional locomotion, e.g., wheels, walking and crawling etc., jumping robots can better adapt to unstructured environments because they can reach goals even in presence of only sparse footholds, by jumping from one to another [7]. Jumping robots are particularly indicated for applications characterized by uneven, rough terrain [10], such as battlefield reconnaissance, archaeological exploration, antiterrorism operations, freight transportation, patient care, disaster relief [11]. They can also be employed in interstellar detection [12], since jumping owes greater advantage over other locomotion modes in low-gravity environments, such as Mars and the moon.…”

Exploiting the Nonlinear Stiffness of TMP Origami Folding to Enhance Robotic Jumping Performance

“…For example, jumping has higher energy density, efficient obstacle negotiation, and rapid terrain transition [17][18][19]. Jumping robots are capable of moving through different heights and irregular terrains, and can achieve more convenient freight transportation [17], patient care [17], disaster relief [20], rescue [21], and interstellar exploration [17].…”