Self-righting, steering and takeoff angle adjusting for a jumping robot

Jun Zhang, G. Song, Z. Li, Guifang Qiao, Hongtao Sun, Aiguo Song
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引用次数: 18

Abstract

This paper presents a 9 cm × 7 cm × 12 cm, 154 g jumping robot with self-righting, steering, and takeoff angle adjusting capabilities. The quick energy releasing function of the jumping mechanism is implemented by using an eccentric cam. The self-righting, steering, and takeoff angle adjusting capabilities are achieved by adding a rotatable pole leg. The pole leg can prop up the body of the robot when it falls down. The pole leg can also steer the robot to turn at a step of about 24°. By adjusting the center of mass (COM), the robot can jump at different takeoff angles. Experimental results show that the constructed robot can jump more than 88 cm high at a takeoff angle of 82.7° and it can continuously jump to overcome stairs.
用于跳跃机器人的自动扶正、转向和起飞角度调整
本文设计了一种具有自扶正、转向和起飞角度调节功能的9cm × 7cm × 12cm、154g跳跃机器人。采用偏心凸轮实现跳跃机构的快速能量释放功能。自扶正、转向和起飞角度调整能力是通过增加一个可旋转的杆腿来实现的。当机器人摔倒时,杆腿可以支撑起机器人的身体。杆子腿还可以引导机器人以大约24°的速度转动。通过调整质心,机器人可以以不同的起跳角度起跳。实验结果表明,所构建的机器人能以82.7°的起跳角度跳出超过88 cm的高度,并能连续跳过台阶。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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