A Biologically Inspired Height-Adjustable Jumping Robot

doi:10.3390/app11115167

HFCAS OpenIR

	A Biologically Inspired Height-Adjustable Jumping Robot
	Ma, Yunqian 1,2; Wei, Yuliang 1,2; Kong, Deyi1,2
	2021-06-01
发表期刊	APPLIED SCIENCES-BASEL
通讯作者	Ma, Yunqian(myq888@mail.ustc.edu.cn) ; Kong, Deyi(kongdy@iim.ac.cn)
摘要	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.
关键词	biologically inspired robot jumping robot miniature robot multi-locomotion robot self-right
DOI	10.3390/app11115167
关键词[WOS]	MECHANISM ; DESIGN
收录类别	SCI
语种	英语
资助项目	University of Science and Technology of China ; Chinese Academy of Sciences
项目资助者	University of Science and Technology of China ; Chinese Academy of Sciences
WOS研究方向	Chemistry ; Engineering ; Materials Science ; Physics
WOS类目	Chemistry, Multidisciplinary ; Engineering, Multidisciplinary ; Materials Science, Multidisciplinary ; Physics, Applied
WOS记录号	WOS:000659592600001
出版者	MDPI
引用统计	被引频次：8[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.hfcas.ac.cn:8080/handle/334002/123788
专题	中国科学院合肥物质科学研究院
通讯作者	Ma, Yunqian; Kong, Deyi
作者单位	1.Chinese Acad Sci, Hefei Inst Phys Sci, Inst Intelligent Mach, Hefei 230031, Peoples R China 2.Univ Sci & Technol China, Sci Isl Branch, Grad Sch, Hefei 230009, Peoples R China
推荐引用方式 GB/T 7714	Ma, Yunqian,Wei, Yuliang,Kong, Deyi. A Biologically Inspired Height-Adjustable Jumping Robot[J]. APPLIED SCIENCES-BASEL,2021,11.
APA	Ma, Yunqian,Wei, Yuliang,&Kong, Deyi.(2021).A Biologically Inspired Height-Adjustable Jumping Robot.APPLIED SCIENCES-BASEL,11.
MLA	Ma, Yunqian,et al."A Biologically Inspired Height-Adjustable Jumping Robot".APPLIED SCIENCES-BASEL 11(2021).