Abstract
Jumping is a good solution for small robots over obstacles. Most of the current jumping robots are not energy store adjustable due to the design of the energy storage elements and structures, which limits the effective working space of the robot. The locust is good at jumping. Thanks to the excellent structure of the hind legs, the locust can change the degree of compression of the simi-lunar process (SLP) and change the energy storage while maintaining the same jumping stance. Herein, we design a locust-inspired energy storage joint and verified its function on a jumping robot. The motors and wires were used to imitate the muscles and the torsion springs were used to imitate SLP. To accurately describe the energy stored, a static model of the torsion springs was developed. Furthermore, the number of motor revolutions and the stored energy value were also calculated and could be used for subsequent precise control. Six jumping experiments with different compression angles for torsion springs proved the feasibility of the static model. This locust-inspired energy storage joint is the basis for the next robot capable of the omnidirectional, continuous autonomous jumping.
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Acknowledgment
The work was supported by Shenzhen Science and Technology Program (Grant No. RCBS20210609103901011), Shenzhen Peacock Innovation Team Project (Grant No. KQTD20210811090146075), and State Key Laboratory of Mechanical System and Vibration (Grant No. MSV202306).
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Yang, Y., Feng, Z., Jin, C., Tang, L., Ma, S., Li, Y. (2023). A Locust-Inspired Energy Storage Joint for Variable Jumping Trajectory Control. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14271. Springer, Singapore. https://doi.org/10.1007/978-981-99-6495-6_39
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DOI: https://doi.org/10.1007/978-981-99-6495-6_39
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