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13 results for “jumping robots”
Data for: Adapting small jumping robots to compliant environments
<p>Jumping animals launch themselves from surfaces that vary widely in compliance from grasses and shrubs to tree branches. However, studies of robotic jumpers have been largely limited to those jumping from rigid substrates. In this paper, we leverage recent work describing how latches in jumping systems can mediate the transition from stored potential energy to kinetic energy. By including a description of the latch in our system model of both the jumper and compliant substrate, we can describe conditions in which a jumper can either lose energy to the substrate or recover energy from the substrate resulting in an improved jump performance. Using our mathematical model, we illustrate how the latch plays a role in the ability of a system to adapt its jump performance to a wide range of substrates that vary in their compliance. Our modeling results are validated using a 4 g jumper with a range of latch designs jumping from substrates with varying mass and compliance. Finally, we demonstrate the jumper recovering energy from a tree branch during take-off, extending these mechanistic findings to robots interacting with a more natural environment.</p>
Data for: Adapting small jumping robots to compliant environments
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Figure 5 from: Ruan Y, Konstantinov AS, Shi G, Tao Y, Li Y, Johnson AJ, Luo X, Zhang X, Zhang M, Wu J, Li W, Ge S, Yang X (2020) The jumping mechanism of flea beetles (Coleoptera, Chrysomelidae, Alticini), its application to bionics and preliminary design for a robotic jumping leg. ZooKeys 915: 87-105. https://doi.org/10.3897/zookeys.915.38348
Figure 5 The dynamics of the catapult mechanism of the flea beetle hind leg powered by the elastic plate (Asiophrida xanthospilota, micro-CT 3D reconstructions from four different phases of the jumping leg). (F1 indicates the force generated by tibial extensor muscles responsible for extension of the tibia; F2 indicates the force responsible for flexion of the tibia which is indirectly generated by tibial flexor muscles). A–D 3D reconstructions of four hind legs through each of the four phases of the jump, indicating variable d1 (moment arm of F1) and d2 (moment arm of F2). d1 is at its minimal length at the start of the hind leg extension and at its maximal length during the middle; by contrast, d2 is at its maximal length at the start of the hind leg extension and at its minimal at the end A phase I B phase II C phase III D phase IV E the positive feedback mechanism in the take-off process. F2 comprises F21, which is the constrained force generated by the elastic plate, and F22, which is generated by the tibial flexor muscle F the triangular plate – elastic plate complex (lateral view) G the triangular plate – elastic plate complex (dorsal view) H the elastic plate (dorsal view, under light microscope, dark-field microscopy) I the triangular plate (dorsal view, under light microscope, dark-field microscopy). Abbreviations: epl: elastic plate; tli-2: secondary tibial ligament; tpl: triangular plate; ten: tendon of tibial flexor.
Supplementary material 1 from: Ruan Y, Konstantinov AS, Shi G, Tao Y, Li Y, Johnson AJ, Luo X, Zhang X, Zhang M, Wu J, Li W, Ge S, Yang X (2020) The jumping mechanism of flea beetles (Coleoptera, Chrysomelidae, Alticini), its application to bionics and preliminary design for a robotic jumping leg. ZooKeys 915: 87-105. https://doi.org/10.3897/zookeys.915.38348
: Data type: multimedia
Figure 4 from: Ruan Y, Konstantinov AS, Shi G, Tao Y, Li Y, Johnson AJ, Luo X, Zhang X, Zhang M, Wu J, Li W, Ge S, Yang X (2020) The jumping mechanism of flea beetles (Coleoptera, Chrysomelidae, Alticini), its application to bionics and preliminary design for a robotic jumping leg. ZooKeys 915: 87-105. https://doi.org/10.3897/zookeys.915.38348
Figure 4 Take-off strategy of flea beetles (Asiophrida xanthospilota is shown in the photos at the top of the figure). Acceleration data were calculated based on three typical jumps recorded by a high-speed camera. The three different species were chosen to represent flea beetles with different sizes A Phase I (Crunching): tibial flexor muscles contract, causing flexion of the tibia B Phase II (Co-contraction): tibial extensor muscles and tibial flexor muscles contract simultaneously, catching the triangular plate and hindering the extension of the tibia C Phase III (Triggering and Acceleration), the triangular plate is dislodged, causing the explosive release of energy D Phase IV (Relaxation), the flea beetle is catapulted into the air and the muscles begin to relax.
Figure 1 from: Ruan Y, Konstantinov AS, Shi G, Tao Y, Li Y, Johnson AJ, Luo X, Zhang X, Zhang M, Wu J, Li W, Ge S, Yang X (2020) The jumping mechanism of flea beetles (Coleoptera, Chrysomelidae, Alticini), its application to bionics and preliminary design for a robotic jumping leg. ZooKeys 915: 87-105. https://doi.org/10.3897/zookeys.915.38348
Figure 1 Jumping apparatus in the flea beetle hind leg. A a model of a generic flea beetle (lateral view), indicating the enlarged hind leg B hind leg of Trachytetra obscura under a light microscope (dark-field microscopy) C–H X-ray computer tomography-based 3D reconstructions of the hind leg of the flea beetle Asiophrida xanthospilotaC lateral view of the hind leg and internal structures D dorsal view of the hind leg E lateral view of the hind leg (view from an opposite direction of inset C) F lateral view of the metafemoral spring G ventral view of the metafemoral spring H femorotibial joint. Abbreviations: epl: elastic plate; piv: tibial pivot of femorotibial joint; tli-1: primary tibial ligament; tli-2: secondary tibial ligament; tpl: Lever's triangular plate.
Supplementary material 4 from: Ruan Y, Konstantinov AS, Shi G, Tao Y, Li Y, Johnson AJ, Luo X, Zhang X, Zhang M, Wu J, Li W, Ge S, Yang X (2020) The jumping mechanism of flea beetles (Coleoptera, Chrysomelidae, Alticini), its application to bionics and preliminary design for a robotic jumping leg. ZooKeys 915: 87-105. https://doi.org/10.3897/zookeys.915.38348
: Data type: multimedia
Figure 3 from: Ruan Y, Konstantinov AS, Shi G, Tao Y, Li Y, Johnson AJ, Luo X, Zhang X, Zhang M, Wu J, Li W, Ge S, Yang X (2020) The jumping mechanism of flea beetles (Coleoptera, Chrysomelidae, Alticini), its application to bionics and preliminary design for a robotic jumping leg. ZooKeys 915: 87-105. https://doi.org/10.3897/zookeys.915.38348
Figure 3 Variation in the metafemoral spring of different flea beetle species (3D reconstructions). A hind femur of Altica cirsicolaB hind femur of Podontia luteaC hind femur of Psylliodes sp. D hind femur of Nonarthra sp. E hind femur of Clavicornaltica sp. F hind femur of Hespera lomasa. Scale bar: 0.2 mm.
Figure 2 from: Ruan Y, Konstantinov AS, Shi G, Tao Y, Li Y, Johnson AJ, Luo X, Zhang X, Zhang M, Wu J, Li W, Ge S, Yang X (2020) The jumping mechanism of flea beetles (Coleoptera, Chrysomelidae, Alticini), its application to bionics and preliminary design for a robotic jumping leg. ZooKeys 915: 87-105. https://doi.org/10.3897/zookeys.915.38348
Figure 2 Internal structures of the hind leg of Altica cirsicola. A the flea beetle Altica sp. on foliage B–F X-ray computer tomography 3D reconstructions of the hind leg of A. cirsicolaB lateral view of the left hind leg C lateral view of the metafemoral spring D distal view of the metafemoral spring E distal view of the metafemoral spring and tibial extensors F features of the femorotibial joint. Abbreviations: cox: coxa; exa: extended arm of the metafemoral spring; epl: elastic plate; fem: femur; msp: metafemoral spring; ner: nerve; piv: tibial pivot of the femorotibial joint; rfl: recurve flange of the metafemoral spring; tar: tarsi; tex-1: primary tibial extensor; tex-2: secondary tibial extensor; tfl: tibial flexor; tib: tibia; tli-1: primary tibial ligament; tli-2: secondary tibial ligament; tpl: Lever's triangular plate; tra: trachea; tro: trochanter.
Supplementary material 2 from: Ruan Y, Konstantinov AS, Shi G, Tao Y, Li Y, Johnson AJ, Luo X, Zhang X, Zhang M, Wu J, Li W, Ge S, Yang X (2020) The jumping mechanism of flea beetles (Coleoptera, Chrysomelidae, Alticini), its application to bionics and preliminary design for a robotic jumping leg. ZooKeys 915: 87-105. https://doi.org/10.3897/zookeys.915.38348
: Data type: multimedia
Supplementary material 3 from: Ruan Y, Konstantinov AS, Shi G, Tao Y, Li Y, Johnson AJ, Luo X, Zhang X, Zhang M, Wu J, Li W, Ge S, Yang X (2020) The jumping mechanism of flea beetles (Coleoptera, Chrysomelidae, Alticini), its application to bionics and preliminary design for a robotic jumping leg. ZooKeys 915: 87-105. https://doi.org/10.3897/zookeys.915.38348
: Data type: multimedia
Figure 6 from: Ruan Y, Konstantinov AS, Shi G, Tao Y, Li Y, Johnson AJ, Luo X, Zhang X, Zhang M, Wu J, Li W, Ge S, Yang X (2020) The jumping mechanism of flea beetles (Coleoptera, Chrysomelidae, Alticini), its application to bionics and preliminary design for a robotic jumping leg. ZooKeys 915: 87-105. https://doi.org/10.3897/zookeys.915.38348
Figure 6 Bionic design of a jumping limb inspired by the flea beetle leg. A preparation position for jumping B building up elastic strain energy C triggering the jump D acceleration. The required energy for a jump is provided by two 'motors' operating simultaneously and generating the forces F1 and F2, respectively. At the beginning (inset B), F1 > F2, the 'tibia' rotates clockwise, but the 'trigger' blocks the process and leads to the stretching of 'volute spring'. Thus, the work generated by the 'motors' is stored in the 'volute spring'. At a certain stage (inset C), when the 'trigger' can no longer constrain the huge tension built up inside the femur, the 'latch element' dislodges suddenly from the 'trigger' and the huge amount of energy stored in the 'volute spring' is released. This leads to the explosive clockwise movement of the tibia. The leg thereby propels the robot into the air in an explosive manner. The leg can be switched to regular walking mode as required by operating only one 'motor' (one to flex the leg and the another to extend it) at a time.
Obstacle avoidance function of the rolling and jumping robot
<p>Obstacle avoidance function of the rolling and jumping robot</p>
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