Jumping robots: a biomimetic solution to locomotion across rough terrain

Area of Science:

• Robotics
• Biomechanics
• Mechanical Engineering

Background:

• Traditional wheeled, tracked, and legged robots struggle with rough terrain.
• Nature exhibits diverse jumping mechanisms, suggesting its utility for robotic locomotion.

Purpose of the Study:

• To explore the feasibility of jumping robots for rough terrain traversal.
• To design and evaluate novel, biologically inspired jumping robots.
• To analyze size-related constraints and performance-limiting factors for jumping robots.

Main Methods:

• Literature review of existing jumping robots and natural jumping mechanisms.
• First-principles analysis of size-related constraints for jumping robots.
• Design and construction of two new jumping robots: Jollbot (rolling) and Glumper (gliding).
• Experimental evaluation of jumping performance (center of gravity raise, jump height).

Main Results:

• Jollbot (300 mm sphere) raised its center of gravity by 0.22 m and cleared 0.18 m.
• Glumper (octahedral, CFRP legs) raised its center of gravity by 1.60 m and cleared 1.17 m.
• Specific power output identified as a key performance-limiting factor, influenced by energy storage and mass.

Conclusions:

• Jumping robots are a viable locomotion strategy for challenging environments.
• Biologically inspired designs, like Jollbot and Glumper, show promising performance.
• Optimization of energy storage and mass minimization are crucial for enhancing jumping robot capabilities.