Title :
Frog-inspired jumping robot for overcoming high obstacles
Author :
Jeongdo Ahn ; Jongwon Park ; Kyung-Soo Kim ; Soohyun Kim
Author_Institution :
Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol. (KAIST), Daejeon, South Korea
Abstract :
Jumping robots can overcome obstacles higher than their own height, while robots with wheel or caterpillar cannot. In this paper, 22.5g frog-inspired small jumping robot is presented. It can jump more than 2.5 m, i.e. 58 times its own height. The four-bar linkage structure is employed to imitating the musculoskeletal structure and behavior of frog´s hind leg, and twisting actuation is applied to store large elastic energy on elastomer using motor of small power.
Keywords :
collision avoidance; elastomers; mobile robots; elastomer; four bar linkage structure; frog hind leg; frog inspired small jumping robot; high obstacles; large elastic energy; musculoskeletal structure; small power motor; twisting actuation; Artificial intelligence; Biological system modeling; Indexes; Robots; Surveillance; Trajectory; Biomimetic; energy storage mechanism; frog-inspired jumping robot; twisting actuation;
Conference_Titel :
Robotics (ISR), 2013 44th International Symposium on
Conference_Location :
Seoul
DOI :
10.1109/ISR.2013.6695739
