A miniature 7g jumping robot

Jumping can be a very efficient mode of locomotion for small robots to overcome large obstacles and travel in natural, rough terrain. In this paper we present the development and characterization of a novel 5 cm, 7g jumping robot. It can jump obstacles more than 27 times its own size and outperforms...

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Bibliographic Details
Published in2008 IEEE International Conference on Robotics and Automation pp. 373 - 378
Main Authors Kovac, M., Fuchs, M., Guignard, A., Zufferey, J.-C., Floreano, D.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2008
Subjects
Acceleration
Couplings
Design optimization
Foot
Intelligent robots
Leg
Legged locomotion
Prototypes
Robotics and automation
USA Councils
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Summary:Jumping can be a very efficient mode of locomotion for small robots to overcome large obstacles and travel in natural, rough terrain. In this paper we present the development and characterization of a novel 5 cm, 7g jumping robot. It can jump obstacles more than 27 times its own size and outperforms existing jumping robots by one order of magnitude with respect to jump height per weight and jump height per size. It employs elastic elements in a four bar linkage leg system to allow for very powerful jumps and adjustment of the jumping force, take-off angle and force profile during the acceleration phase.
ISBN:1424416469
9781424416462
ISSN:1050-4729
DOI:10.1109/ROBOT.2008.4543236