Dataset Information

Adapting small jumping robots to compliant environments.

ABSTRACT: Jumping animals launch themselves from surfaces that vary widely in compliance from grasses and shrubs to tree branches. However, studies of robotic jumpers have been largely limited to those jumping from rigid substrates. In this paper, we leverage recent work describing how latches in jumping systems can mediate the transition from stored potential energy to kinetic energy. By including a description of the latch in our system model of both the jumper and compliant substrate, we can describe conditions in which a jumper can either lose energy to the substrate or recover energy from the substrate resulting in an improved jump performance. Using our mathematical model, we illustrate how the latch plays a role in the ability of a system to adapt its jump performance to a wide range of substrates that vary in their compliance. Our modelling results are validated using a 4 g jumper with a range of latch designs jumping from substrates with varying mass and compliance. Finally, we demonstrate the jumper recovering energy from a tree branch during take-off, extending these mechanistic findings to robots interacting with a more natural environment.

SUBMITTER: Divi S

PROVIDER: S-EPMC9974292 | biostudies-literature | 2023 Mar

REPOSITORIES: biostudies-literature

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Adapting small jumping robots to compliant environments.

Divi Sathvik S Reynaga Crystal C Azizi Emanuel E Bergbreiter Sarah S

Journal of the Royal Society, Interface 20230301 200

Jumping animals launch themselves from surfaces that vary widely in compliance from grasses and shrubs to tree branches. However, studies of robotic jumpers have been largely limited to those jumping from rigid substrates. In this paper, we leverage recent work describing how latches in jumping systems can mediate the transition from stored potential energy to kinetic energy. By including a description of the latch in our system model of both the jumper and compliant substrate, we can describe c ...[more]

PMID: 36854379

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Dataset Information

Adapting small jumping robots to compliant environments.

Publications

Adapting small jumping robots to compliant environments.

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