A miniature 7g jumping robot

被引：251

作者：

Kovac, Mirko ^{[1
]}

Fuchs, Martin ^{[1
]}

Guignard, Andre ^{[1
]}

Zufferey, Jean-Christophe ^{[1
]}

Floreano, Dario ^{[1
]}

机构：

[1] Ecole Polytech Fed Lausanne, Lab Intelligent Syst, CH-1015 Lausanne, Switzerland

来源：

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 | 2008年

关键词：

D O I：

10.1109/ROBOT.2008.4543236

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Jumping can be a very efficient mode of locomotion for small robots to overcome large obstacles and travel in natural, rough terrain. In this paper we present the development and characterization of a novel 5cm, 7g jumping robot. It can jump obstacles more than 27 times its own size and outperforms existing jumping robots by one order of magnitude with respect to jump height per weight and jump height per size. It employs elastic elements in a four bar linkage leg system to allow for very powerful jumps and adjustment of the jumping force, take-off angle and force profile during the acceleration phase.

引用

页码：373 / 378

页数：6

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