Energy-recoverable landing strategy for small-scale jumping robots

IF 4.3 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS
Chong Hong, Dewei Tang, Qiquan Quan, Zhuoqun Cao, Zongquan Deng
{"title":"Energy-recoverable landing strategy for small-scale jumping robots","authors":"Chong Hong,&nbsp;Dewei Tang,&nbsp;Qiquan Quan,&nbsp;Zhuoqun Cao,&nbsp;Zongquan Deng","doi":"10.1016/j.robot.2024.104696","DOIUrl":null,"url":null,"abstract":"<div><p>Small-scale jumping robots widely employ the pause-and-leap locomotion strategy. They use elastic elements to enhance the jumping performance, which is promising for locomotion over rugged terrain. However, these robots typically lose a significant amount of mechanical energy during landing, which is initially accumulated for takeoff, resulting in wasted energy. Here, we propose a landing strategy that uses a jumping mechanism with controlled mono-stable or bi-stable characteristics to achieve the energy recoverable landing. By adjusting the jumping mechanism to an appropriate bi-stable state before landing, the robot’s extended leg retracts to its pre-jump configuration upon touchdown, enabling the recapture of mechanical energy within the springs. We develop analytical models for the touchdown collision and landing dynamics. A 165 g robot prototype is constructed, featuring integrated sensing, actuation, and computations. Both simulations and experiments are conducted to explore the effects of various factors on the landing behavior. Experiments demonstrate successful landings with energy recovery ratio exceeding 50% across different landing trajectories. This landing strategy holds significant potential for enhancing the locomotion efficiency of future small-scale jumping robots.</p></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":4.3000,"publicationDate":"2024-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Robotics and Autonomous Systems","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0921889024000794","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0

Abstract

Small-scale jumping robots widely employ the pause-and-leap locomotion strategy. They use elastic elements to enhance the jumping performance, which is promising for locomotion over rugged terrain. However, these robots typically lose a significant amount of mechanical energy during landing, which is initially accumulated for takeoff, resulting in wasted energy. Here, we propose a landing strategy that uses a jumping mechanism with controlled mono-stable or bi-stable characteristics to achieve the energy recoverable landing. By adjusting the jumping mechanism to an appropriate bi-stable state before landing, the robot’s extended leg retracts to its pre-jump configuration upon touchdown, enabling the recapture of mechanical energy within the springs. We develop analytical models for the touchdown collision and landing dynamics. A 165 g robot prototype is constructed, featuring integrated sensing, actuation, and computations. Both simulations and experiments are conducted to explore the effects of various factors on the landing behavior. Experiments demonstrate successful landings with energy recovery ratio exceeding 50% across different landing trajectories. This landing strategy holds significant potential for enhancing the locomotion efficiency of future small-scale jumping robots.

Abstract Image

小型跳跃机器人的能量回收着陆策略
小型跳跃机器人广泛采用停顿-跳跃运动策略。它们使用弹性元件来提高跳跃性能,这对于在崎岖地形上运动很有前景。然而,这些机器人在着陆时通常会损失大量机械能,而这些机械能最初是为起飞积累的,这就造成了能量浪费。在此,我们提出一种着陆策略,利用具有可控单稳态或双稳态特性的跳跃机构来实现能量可回收着陆。通过在着陆前将起跳机构调整到适当的双稳态状态,机器人伸出的腿在着陆时会缩回到起跳前的配置,从而实现弹簧内机械能的回收。我们建立了触地碰撞和着陆动力学分析模型。我们建造了一个重 165 克的机器人原型,它集成了传感、驱动和计算功能。我们进行了模拟和实验,以探索各种因素对着陆行为的影响。实验证明,在不同的着陆轨迹上,机器人都能成功着陆,能量回收率超过 50%。这种着陆策略对于提高未来小型跳跃机器人的运动效率具有巨大潜力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
Robotics and Autonomous Systems
Robotics and Autonomous Systems 工程技术-机器人学
CiteScore
9.00
自引率
7.00%
发文量
164
审稿时长
4.5 months
期刊介绍: Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems. Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信