The development of hopping capabilities for small robots
The development of hopping capabilities for small robots
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DOI：
10.1023/a:1022239904879
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发表时间：
2003-03-01
影响因子：
3.5
通讯作者：
Burdick, J
中科院分区：
文献类型：
--
作者：
Fiorini, P;Burdick, J
本文介绍了小型跳跃机器人的发展，是有用的许多任务，在未知的，崎岖的地形，特别适合于天体探测在小重力环境。这里描述的跳跃机器人家族的特征在于不连续的运动，由此机器人在每次跳跃后停止以恢复直立位置，为其跳跃机构充电并定位自身。我们描述了我们的跳跃机器人概念的演变方式，我们已经开发的主要原型。这些原型表明，一个小机器人可以有效地移动跳跃，它配备了转向，跳跃和自我扶正能力。最后一个原型还配备了轮子，以实现着陆后的精确运动。这些原型的发展过程中吸取的经验教训具有普遍适用性的跳跃或跳跃机器人的设计。除了回顾跳跃系统设计的一些关键方面外，本文还对各种原型的机制进行了详细的图片和描述。
This paper describes the development of small hopping robots that are useful for many tasks in unknown, rugged terrain, and are especially suited to celestial exploration in small gravity environments. The family of hopping, or jumping, robots described here is characterized by discontinuous motion, whereby the robot stops after each jump to regain the upright position, recharge its jumping mechanism and localize itself. We describe the evolution of our hopping robot concept by way of the main prototypes that we have developed. These prototypes show that a small robot can move effectively by hopping provided that it is equipped with steering, jumping, and self-righting capabilities. The last prototype is also equipped with wheels to achieve precision motion after landing. Lessons learned during the development of these prototypes have general applicability to the design of hopping or jumping robots. In addition to reviewing some of the key aspects of the design of jumping systems, this paper gives detailed pictures and descriptions of the mechanism of the various prototypes.