A compact jumping robot utilizing snap-through buckling with bend and twist

In this paper, we propose a robotic catapult based on closed elastica utilizing bending and twisting deformation of an elastic strip. By using snap-through buckling generated from not only bend but also twist of thin rectangle elastic strip, impulsive forces can be generated repeatedly by the frequency of 3[Hz] without changing added torque directions. The compact jumping robot based on the proposed robotic catapult can leap over 950[mm] away. In addition, by setting the parameters appropriately to make the best use of generating impulsive forces with high frequency, it can perform repeated low-altitude jumping motions with about 1.06[m/s] velocity including quick step of about 0.152[s].