Locust-inspired miniature jumping robot

V. Zaitsev, O. Gvirsman, U. Ben Hanan, A. Weiss, A. Ayali, G. Kosa*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Jumping is one among successful locomotion gaits for small scale robots to overcome obstacles and traverse rough terrains. Design of a jumping robot features many engineering challenges; some of them may be solved by seeking inspiration and solutions in nature. This paper entails the conceptual and detailed design of TAUB, a miniature jumping robot whose design was inspired by the Desert Locust's legs. The jumping mechanism consist a pair of legs each with two equal segments, mimicking the femur and tibia, joined by torsion springs, mimicking the Semi-Lunar Process (SLP) of the Locust's legs. The jumping legs enable relatively large opening angle of 150 degrees, similar to the locust, allowing using softer springs and increase the energy storing and jumping performance. The 22. 6 gr autonomous robot prototype constructed outperforms other existing robots, by jumping to a height of 3. 1 m covering a distance of 3 m.

Original languageEnglish
Title of host publicationIROS Hamburg 2015 - Conference Digest
Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages553-558
Number of pages6
ISBN (Electronic)9781479999941
DOIs
StatePublished - 11 Dec 2015
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: 28 Sep 20152 Oct 2015

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2015-December
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Country/TerritoryGermany
CityHamburg
Period28/09/152/10/15

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