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ICRA
2007
IEEE

Design and Development of the Long-Jumping "Grillo" Mini Robot

9 years 6 months ago
Design and Development of the Long-Jumping "Grillo" Mini Robot
Abstract— This paper describes the design of a fast longjumping robot conceived to move in unstructured environments through simple feed-forward control laws. Despite the apparent similarities with hopping, jumping dynamics is peculiar and involve non-trivial issues on actuation powering, energy saving and stability. The ”Grillo” robot described here is a quadruped, 50-mm robot that weights about 15 grams and is suited for a long-jumping gait. Inspired by frog locomotion, a tiny motor load the springs connected to the hind limbs. At take-off, an escapement mechanism releases the loaded springs. This provides a peak power output that can exceed several times the maximum motor power. In this way, the actuation and energy systems can be significantly reduced in weight and size. On the other hand, passive dynamics is exploited by compliant forelegs, that let to partially recover the impact energy in their elastic recoil. Equipped with a 0.2W DC motor, the robot is
Umberto Scarfogliero, Cesare Stefanini, Paolo Dari
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Umberto Scarfogliero, Cesare Stefanini, Paolo Dario
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