Jun Zhang, G. Song, Z. Li, Guifang Qiao, Hongtao Sun, Aiguo Song
{"title":"用于跳跃机器人的自动扶正、转向和起飞角度调整","authors":"Jun Zhang, G. Song, Z. Li, Guifang Qiao, Hongtao Sun, Aiguo Song","doi":"10.1109/IROS.2012.6385466","DOIUrl":null,"url":null,"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.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"9 1","pages":"2089-2094"},"PeriodicalIF":0.0000,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"18","resultStr":"{\"title\":\"Self-righting, steering and takeoff angle adjusting for a jumping robot\",\"authors\":\"Jun Zhang, G. Song, Z. Li, Guifang Qiao, Hongtao Sun, Aiguo Song\",\"doi\":\"10.1109/IROS.2012.6385466\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":6358,\"journal\":{\"name\":\"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems\",\"volume\":\"9 1\",\"pages\":\"2089-2094\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2012-12-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"18\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.2012.6385466\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.2012.6385466","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Self-righting, steering and takeoff angle adjusting for a jumping robot
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.