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Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

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Published on: June 10, 2020

A locust-inspired miniature jumping robot.

Valentin Zaitsev¹, Omer Gvirsman, Uri Ben Hanan

¹Mechanical Engineering, Ort Braude College, Karmiel, Israel. Mechanical Engineering, Tel Aviv University, Tel Aviv, Israel.

Bioinspiration & Biomimetics

|November 26, 2015

Summary

This study introduces a bio-inspired jumping robot mechanism, modeled after the desert locust, to overcome terrain challenges. The advanced prototype achieves impressive autonomous jumps, enhancing robotic mobility.

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Area of Science:

Robotics
Bio-inspired Engineering
Locomotion Systems

Background:

Traditional wheeled, tracked, and legged robots struggle with rough terrain and high obstacles.
Enhanced mobility in small robots requires diverse locomotion gaits, including jumping.
Nature offers solutions, with the desert locust's jumping mechanism serving as a model.

Purpose of the Study:

To design and develop a bio-inspired jumping mechanism for small mobile robots.
To improve robotic mobility and obstacle traversal capabilities.
To analyze the manufacturing and performance of jumping robot prototypes.

Main Methods:

Modeled the jumping mechanism on the desert locust's hind leg semilunar process.
Utilized a torsional spring cocked by a tendon-like wire and a miniature motor.
Manufactured and tested two demonstrator prototypes.

Main Results:

Developed a power-autonomous jumping robot demonstrator weighing 23 grams.
Achieved a maximum jump height of 3.35 meters.
Demonstrated a maximum jump distance of 1.37 meters.

Conclusions:

The bio-inspired jumping mechanism significantly enhances robotic mobility.
This design offers a viable solution for robots operating in challenging terrains.
Further development can lead to more capable and agile small robots.