Jumping may be considered to be quite a useful\r\nmeans of mobile robot locomotion, but acquiring a stable\r\nlanding has been a difficult problem. This paper reports on\r\nthe design, analysis, simulation and experiments of a\r\nmesoscale jumping robot that is capable of stable landing.\r\nA jumping mechanism inspired by jumping insects is\r\nintroduced and an actuation scheme using only one shape\r\nmemory alloy (SMA) spring is described. Experimental\r\nresults show that a robot with a 17 gram weight and 13 cm\r\ndiameter can jump forward as far as 1.2 times its body\r\ndiameter and vertically as high as 1.5 times its body\r\ndiameter. In addition, the robot is able to land in a stable\r\nmanner and recover its initial posture after landing
Loading....