Paper Info
Title
An Omnidirectional Jumper with Expanded Movability via Steering, Self-Righting and Take-off Angle Adjustment
Abstract
In this paper, we propose an omnidirectional jumper with expanded locomotion capabilities. The mechanisms for four functions-jumping, steering, self-righting and take-off angle adjustment-are designed using only two motors to maximize the jumping performance. Jumping uses the modified active triggering mechanism with one motor. Steering shares this motor and uses the wheel touching the ground. The take-off angle is adjusted by changing the angle between the body and the foot using another motor. Self-righting is possible by utilizing combinations of the movements that occur in the energy storing and angle adjustment processes. With these four functions, the robot is capable of jumping in all directions and can jump anywhere in between the maximum height and maximum distance. It can also jump multiple times by self-righting. The robot, with a mass of 64.4 g, jumps up to 113 cm in vertical height, and 170 cm in horizontal distance. This robot can be deployed to explore various environments. Moreover, the design method to implement more functions than the number of motors can be applied to design other small-scale robots.
Year
DOI
Venue
2018
10.1109/IROS.2018.8594372
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Keywords
Field
DocType
steering shares,modified active triggering mechanism,jumping performance,expanded locomotion capabilities,angle adjustment,self-righting,expanded movability,omnidirectional jumper
Omnidirectional antenna,Coupling,Jumping,Control theory,Computer science,Control engineering,Electromagnetic coil,Jump,Robot,Jumper,Pulley
Conference
ISSN
ISBN
Citations 
2153-0858
978-1-5386-8095-7
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Sojung Yim111.11
Sang-Min Baek211.45
Gwang-Pil Jung3347.20
Kyu-Jin Cho432470.86