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Optimized Jumping of an Articulated Robotic Leg
2020 17th International Conference on Ubiquitous Robots (UR), 2020This paper proposes a nonlinear programming (NLP) formulation intended for the trajectory optimization of legged robot jumping applications during the stance phase, taking into consideration the detailed robot model, actuator capability, terrain condition, etc.
Junjie Shen 0002 +3 more
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Minimalist Jumping Robots for Celestial Exploration
The International Journal of Robotics Research, 2003In this paper we describe a novel approach to the design and deployment of small and minimally actuated jumping or hopping robots that are suitable for exploring the unstructured terrains of celestial bodies. We introduce the basic jumping mobility paradigm, as well as the evolution of our hopping robot concept by way of the main prototypes that we ...
Burdick J., FIORINI, Paolo
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2012 7th IEEE Conference on Industrial Electronics and Applications (ICIEA), 2012
The ability of jumping is unique because it allows robots to travel over many types of rough terrain where no other walking or wheeled robot could go. The idea of jumping robot is the energy associated with the vertical motion is transferred from the kinetic energy of falling into potential energy of elastic deformation and back.
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The ability of jumping is unique because it allows robots to travel over many types of rough terrain where no other walking or wheeled robot could go. The idea of jumping robot is the energy associated with the vertical motion is transferred from the kinetic energy of falling into potential energy of elastic deformation and back.
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Crawling and jumping of deformable soft robot
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), 2005We describe crawling and jumping by a deformable soft robot. Locomotion over rough terrain has been achieved mainly by rigid body systems including crawlers and leg mechanisms. This paper presents an alternative method of moving over rough terrain, one that employs deformation.
Yuuta Sugiyama, Shinichi Hirai
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Optimal shape of a snake robot for jumping
2010 IEEE International Conference on Robotics and Automation, 2010In this paper, we discuss an optimal shape of the grounded part of a snake robot with passive wheels for jumping. First, we derive a relationship between constraint forces for the wheels and necessary friction forces, and propose a constraint force ellipse. Next, we introduce an evaluation index for the optimal shape of the grounded part (base part) of
Keiichi Hoshino +2 more
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Development of an Artistic Robot "Jumping Joe"
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006In this paper, we describe the design, modeling, simulation and implementation of an entertainment robot named "Jumping Joe". Jumping Joe, an artistic and agile robot, can perform several rapid movements such as fast wake up, jumping and somersault.
Amir Ali Forough Nassiraei +9 more
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Circular/Spherical Robots for Crawling and Jumping
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2006We describe circular/spherical robots for crawling and jumping. Locomotion over rough terrain has been achieved mainly by rigid body systems including crawlers and leg mechanisms. This paper presents an alternative method of moving over rough terrain, one that employs deformation.
Yuuta Sugiyama +3 more
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BounceBot: A One-Legged Jumping Robot
2018This paper describes the design and development of a jumping robot made from readily available components and 3D printed parts. This robot is designed to traverse obstacles that are too large for conventional locomotion methods, utilising elastic potential energy to store and release kinetic energy at differing rates.
James Rogers +2 more
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Jumping pattern generation for one-legged jumping robot
2017 17th International Conference on Control, Automation and Systems (ICCAS), 2017This paper describes a one-legged robot capable of jumping that consists of a waist, thigh, a shin, and foot. The jumping robot's height is 1200 [mm], and its weight is 90 [kg]. Two kinds of pneumatic artificial muscle, the mono-articular muscle and the bi-articular muscle are installed.
Akira Umehara +4 more
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Jumping commands for flexible-legged robots
IEEE ISR 2013, 2013Under certain conditions, hopping, skipping, or jumping might be a more efficient means of terrestrial locomotion than either walking or rolling. In addition, for many robotic applications, a robust jumping algorithm could be easier to implement than walking.
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