Abstract:
Small-scale jumping robots are promising for rugged terrain locomotion due to their strong ability to overcome obstacles. Appendages are widely adopted by them to improve...Show MoreMetadata
Abstract:
Small-scale jumping robots are promising for rugged terrain locomotion due to their strong ability to overcome obstacles. Appendages are widely adopted by them to improve maneuverability and thus better adapt to real-world applications. However, existing appendages of small-scale jumping robots have limited operational modes or control degrees of freedom (DOFs), constraining their functionality. Here, we present a maneuvering mechanism with two-DOF inertial appendages to improve the maneuverability of jumping robots. It allows the robot to function diversely in different phases by changing the operation behavior. The terrestrial maneuverability is endowed by advanced appendage–ground interactions. By smoothly driving the appendages to control two-DOF body attitude before triggering the jump, the robot allows the omnidirectional jumping trajectory modulation. By controlling the rhythmic disengagement and contact between the appendages and the flat substrate, the crawling locomotion mode is achieved. In the aerial maneuver, the robot redirects its angular momentum to stabilize its two-DOF body attitude through rapid appendage manipulation. Such multifunctional appendages provide a versatile solution for jumping robots to improve maneuverability.
Published in: IEEE/ASME Transactions on Mechatronics ( Volume: 28, Issue: 3, June 2023)
Funding Agency:
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China
Chong Hong received the B.S. degree in mechanical engineering from the Taiyuan University of Technology, Taiyuan, China, in 2017. He is currently working toward the Ph.D. degree in mechanical engineering with the School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China.
He is currently a visiting Ph.D. student with the Max Planck Institute for Intelligent Systems, Stuttgart, Germany. His research i...Show More
Chong Hong received the B.S. degree in mechanical engineering from the Taiyuan University of Technology, Taiyuan, China, in 2017. He is currently working toward the Ph.D. degree in mechanical engineering with the School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China.
He is currently a visiting Ph.D. student with the Max Planck Institute for Intelligent Systems, Stuttgart, Germany. His research i...View more
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China
Dewei Tang received the M.S. and Ph.D. degrees in mechanical engineering from the Harbin Institute of Technology, Harbin, China, in 1991 and 2000, respectively.
He is currently a Professor with the State Key Laboratory of Robotics and System, Harbin Institute of Technology. His current research interests include aerospace robotics and mechanisms.
Dewei Tang received the M.S. and Ph.D. degrees in mechanical engineering from the Harbin Institute of Technology, Harbin, China, in 1991 and 2000, respectively.
He is currently a Professor with the State Key Laboratory of Robotics and System, Harbin Institute of Technology. His current research interests include aerospace robotics and mechanisms.View more
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China
Qiquan Quan (Member, IEEE) received the B.S. degree in automotive engineering and the M.S. degree in mechanical engineering from the Harbin Institute of Technology, Harbin, China, in 2005 and 2007, respectively, and the Ph.D. degree in robotics from Ritsumeikan University, Kyoto, Japan, in 2010.
He is currently a Professor with the State Key Laboratory of Robotics and System, Harbin Institute of Technology. His current res...Show More
Qiquan Quan (Member, IEEE) received the B.S. degree in automotive engineering and the M.S. degree in mechanical engineering from the Harbin Institute of Technology, Harbin, China, in 2005 and 2007, respectively, and the Ph.D. degree in robotics from Ritsumeikan University, Kyoto, Japan, in 2010.
He is currently a Professor with the State Key Laboratory of Robotics and System, Harbin Institute of Technology. His current res...View more
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China
Zhuoqun Cao received the B.S. and M.S. degrees in mechanical engineering from the Harbin Institute of Technology, Harbin, China, in 2018 and 2021, respectively.
His research interests include dynamic modeling and control of jumping robots.
Zhuoqun Cao received the B.S. and M.S. degrees in mechanical engineering from the Harbin Institute of Technology, Harbin, China, in 2018 and 2021, respectively.
His research interests include dynamic modeling and control of jumping robots.View more
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China
Che Wang received the B.S. degree in mechanical engineering from the Taiyuan University of Technology, Taiyuan, China, in 2017. She is currently working toward the Ph.D. degree in mechanical engineering with the School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China.
She is currently a visiting Ph.D. student with Leibniz University Hannover, Hanover, Germany. Her research interests include contac...Show More
Che Wang received the B.S. degree in mechanical engineering from the Taiyuan University of Technology, Taiyuan, China, in 2017. She is currently working toward the Ph.D. degree in mechanical engineering with the School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China.
She is currently a visiting Ph.D. student with Leibniz University Hannover, Hanover, Germany. Her research interests include contac...View more
Department of Physical Intelligence, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
Metin Sitti (Fellow, IEEE) received the B.Sc. and M.Sc. degrees in electrical and electronics engineering from Bo&gcaron;aziçi University, Istanbul, Turkey, in 1992 and 1994, respectively, and the Ph.D. degree in electrical engineering from the University of Tokyo, Tokyo, Japan, in 1999.
Since 2014, he has been the Director of the Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Ge...Show More
Metin Sitti (Fellow, IEEE) received the B.Sc. and M.Sc. degrees in electrical and electronics engineering from Bo&gcaron;aziçi University, Istanbul, Turkey, in 1992 and 1994, respectively, and the Ph.D. degree in electrical engineering from the University of Tokyo, Tokyo, Japan, in 1999.
Since 2014, he has been the Director of the Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Ge...View more
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China
Zongquan Deng received the B.S. and M.S. degrees in mechanical engineering from the Harbin Institute of Technology, Harbin, China, in 1982 and 1984, respectively.
He is currently a Professor with the State Key Laboratory of Robotics and System, Harbin Institute of Technology. He is also an Academician of the China Engineering Academy. His current research interests include special robot systems and aerospace mechanisms and...Show More
Zongquan Deng received the B.S. and M.S. degrees in mechanical engineering from the Harbin Institute of Technology, Harbin, China, in 1982 and 1984, respectively.
He is currently a Professor with the State Key Laboratory of Robotics and System, Harbin Institute of Technology. He is also an Academician of the China Engineering Academy. His current research interests include special robot systems and aerospace mechanisms and...View more
Contents State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China
Chong Hong received the B.S. degree in mechanical engineering from the Taiyuan University of Technology, Taiyuan, China, in 2017. He is currently working toward the Ph.D. degree in mechanical engineering with the School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China.
He is currently a visiting Ph.D. student with the Max Planck Institute for Intelligent Systems, Stuttgart, Germany. His research interests include design and control of small-scale robots.
Chong Hong received the B.S. degree in mechanical engineering from the Taiyuan University of Technology, Taiyuan, China, in 2017. He is currently working toward the Ph.D. degree in mechanical engineering with the School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China.
He is currently a visiting Ph.D. student with the Max Planck Institute for Intelligent Systems, Stuttgart, Germany. His research interests include design and control of small-scale robots.View more
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China
Dewei Tang received the M.S. and Ph.D. degrees in mechanical engineering from the Harbin Institute of Technology, Harbin, China, in 1991 and 2000, respectively.
He is currently a Professor with the State Key Laboratory of Robotics and System, Harbin Institute of Technology. His current research interests include aerospace robotics and mechanisms.
Dewei Tang received the M.S. and Ph.D. degrees in mechanical engineering from the Harbin Institute of Technology, Harbin, China, in 1991 and 2000, respectively.
He is currently a Professor with the State Key Laboratory of Robotics and System, Harbin Institute of Technology. His current research interests include aerospace robotics and mechanisms.View more
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China
Qiquan Quan (Member, IEEE) received the B.S. degree in automotive engineering and the M.S. degree in mechanical engineering from the Harbin Institute of Technology, Harbin, China, in 2005 and 2007, respectively, and the Ph.D. degree in robotics from Ritsumeikan University, Kyoto, Japan, in 2010.
He is currently a Professor with the State Key Laboratory of Robotics and System, Harbin Institute of Technology. His current research interests include in-orbit and on-ground testing of the aerospace mechanism.
Qiquan Quan (Member, IEEE) received the B.S. degree in automotive engineering and the M.S. degree in mechanical engineering from the Harbin Institute of Technology, Harbin, China, in 2005 and 2007, respectively, and the Ph.D. degree in robotics from Ritsumeikan University, Kyoto, Japan, in 2010.
He is currently a Professor with the State Key Laboratory of Robotics and System, Harbin Institute of Technology. His current research interests include in-orbit and on-ground testing of the aerospace mechanism.View more
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China
Zhuoqun Cao received the B.S. and M.S. degrees in mechanical engineering from the Harbin Institute of Technology, Harbin, China, in 2018 and 2021, respectively.
His research interests include dynamic modeling and control of jumping robots.
Zhuoqun Cao received the B.S. and M.S. degrees in mechanical engineering from the Harbin Institute of Technology, Harbin, China, in 2018 and 2021, respectively.
His research interests include dynamic modeling and control of jumping robots.View more
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China
Che Wang received the B.S. degree in mechanical engineering from the Taiyuan University of Technology, Taiyuan, China, in 2017. She is currently working toward the Ph.D. degree in mechanical engineering with the School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China.
She is currently a visiting Ph.D. student with Leibniz University Hannover, Hanover, Germany. Her research interests include contact mechanics and thermodynamics calculation.
Che Wang received the B.S. degree in mechanical engineering from the Taiyuan University of Technology, Taiyuan, China, in 2017. She is currently working toward the Ph.D. degree in mechanical engineering with the School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China.
She is currently a visiting Ph.D. student with Leibniz University Hannover, Hanover, Germany. Her research interests include contact mechanics and thermodynamics calculation.View more
Department of Physical Intelligence, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
Metin Sitti (Fellow, IEEE) received the B.Sc. and M.Sc. degrees in electrical and electronics engineering from Bo&gcaron;aziçi University, Istanbul, Turkey, in 1992 and 1994, respectively, and the Ph.D. degree in electrical engineering from the University of Tokyo, Tokyo, Japan, in 1999.
Since 2014, he has been the Director of the Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany. As his current ancillary academic positions, he is a professor in Institute for Biomedical Engineering at ETH Zurich, Switzerland, professor in School of Medicine and College of Engineering at Ko University, Istanbul, Turkey, and honorary professor in SimTech at University of Stuttgart, Germany. His research interests include small-scale physical intelligence, mobile milli/microrobots, bioinspiration, advanced functional micro/nanomaterials, and medical microrobotics.
Metin Sitti (Fellow, IEEE) received the B.Sc. and M.Sc. degrees in electrical and electronics engineering from Bo&gcaron;aziçi University, Istanbul, Turkey, in 1992 and 1994, respectively, and the Ph.D. degree in electrical engineering from the University of Tokyo, Tokyo, Japan, in 1999.
Since 2014, he has been the Director of the Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany. As his current ancillary academic positions, he is a professor in Institute for Biomedical Engineering at ETH Zurich, Switzerland, professor in School of Medicine and College of Engineering at Ko University, Istanbul, Turkey, and honorary professor in SimTech at University of Stuttgart, Germany. His research interests include small-scale physical intelligence, mobile milli/microrobots, bioinspiration, advanced functional micro/nanomaterials, and medical microrobotics.View more
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China
Zongquan Deng received the B.S. and M.S. degrees in mechanical engineering from the Harbin Institute of Technology, Harbin, China, in 1982 and 1984, respectively.
He is currently a Professor with the State Key Laboratory of Robotics and System, Harbin Institute of Technology. He is also an Academician of the China Engineering Academy. His current research interests include special robot systems and aerospace mechanisms and control.
Zongquan Deng received the B.S. and M.S. degrees in mechanical engineering from the Harbin Institute of Technology, Harbin, China, in 1982 and 1984, respectively.
He is currently a Professor with the State Key Laboratory of Robotics and System, Harbin Institute of Technology. He is also an Academician of the China Engineering Academy. His current research interests include special robot systems and aerospace mechanisms and control.View more
