In natural,aquatic and amphibians creatures have evolved exceptional impulsive-based,momentum-based,and mixed water-air cross domain locomotion capabilities through long-term natural selection,providing significant re...In natural,aquatic and amphibians creatures have evolved exceptional impulsive-based,momentum-based,and mixed water-air cross domain locomotion capabilities through long-term natural selection,providing significant reference and inspiration for the design of aquatic jumping robots.In recent years,inspired by nature and biology,researchers have turned to jumping as a potential mode of locomotion for aquatic robots,aiming to improve their adaptability across water-air environment.However,the performance of these robots remains significantly limited,far from meeting practical application requirements,due to issues like inadequate propulsion efficiency,high structural resistance,and excessive weight.This paper summarizes the key features of bioinspired aquatic jumping robots,including their bioinspired structural designs,jumping mechanisms,and actuators,while evaluating their jumping performance.Finally,the current challenges are analyzed,and future prospects for development are discussed.展开更多
Jumping robots are highly capable of overcoming obstacles.However,their explosive force,short duration,and variable trajectories pose significant challenges in achieving stable landings in complex environments.Traditi...Jumping robots are highly capable of overcoming obstacles.However,their explosive force,short duration,and variable trajectories pose significant challenges in achieving stable landings in complex environments.Traditional approaches rely heavily on sophisticated algorithms and electronic sensor feedback systems to ensure landing stability,which increases the implementation complexity.Inspired by the process by which humans complete jumps and achieve stable landings in complex environments,this study proposes a novel landing control method for jumping robots.By designing a mechanically coupled perception-control structure based on mechanical logic computing,the robot simulates the real-time transmission of neural signals triggered by the ground reaction force(GRF)in human reflex loops,thereby simplifying traditional control approaches.Through the collaboration of a flexible mechanical spine and a bistable foot module,the robot achieves an average height of 16.8 cm and a distance of 25.36 cm in consecutive stable jumps.It also demonstrates reliable landing performance on challenging terrain including slopes and cobblestone surfaces.This paper proposes a novel landing control method for jumping robots that simplifies traditional control approaches.The method enables stable landings on complex terrain through a mechanically coupled perception-control structure.This approach has potential applications in tasks requiring mobility over uneven terrain,such as search and rescue.展开更多
In this study,we present a small,integrated jumping-crawling robot capable of intermittent jumping and self-resetting.Compared to robots with a single mode of locomotion,this multi-modal robot exhibits enhanced obstac...In this study,we present a small,integrated jumping-crawling robot capable of intermittent jumping and self-resetting.Compared to robots with a single mode of locomotion,this multi-modal robot exhibits enhanced obstacle-surmounting capabilities.To achieve this,the robot employs a novel combination of a jumping module and a crawling module.The jumping module features improved energy storage capacity and an active clutch.Within the constraints of structural robustness,the jumping module maximizes the explosive power of the linear spring by utilizing the mechanical advantage of a closed-loop mechanism and controls the energy flow of the jumping module through an active clutch mechanism.Furthermore,inspired by the limb movements of tortoises during crawling and self-righting,a single-degree-of-freedom spatial four-bar crawling mechanism was designed to enable crawling,steering,and resetting functions.To demonstrate its practicality,the integrated jumping-crawling robot was tested in a laboratory environment for functions such as jumping,crawling,self-resetting,and steering.Experimental results confirmed the feasibility of the proposed integrated jumping-crawling robot.展开更多
Bio-inspired jumping robots have emerged as a promising solution for traversing complex terrains inaccessible to conventional locomotion systems.Drawing upon the exceptional jumping kinematics observed in insects,rese...Bio-inspired jumping robots have emerged as a promising solution for traversing complex terrains inaccessible to conventional locomotion systems.Drawing upon the exceptional jumping kinematics observed in insects,researchers have developed multiple robotic prototypes mimicking biological propulsion mechanisms.However,the principal technological barrier resides in actuator systems,where current energy storage technologies suffer from inadequate energy density,fundamentally limiting takeoff velocity and jumping height.To overcome these limitations,we present a novel combustion-explosive propulsion system exhibiting high mass-specific energy release and rapid acceleration characteristics.By integrating this propulsion mechanism with a unique jumping leg structure,experimental validation through prototype testing demonstrated vertical leaps reaching 20 cm(1.67 times body length)under laboratory conditions,accompanied by comprehensive thermodynamic modeling using ABAQUS simulations that validated the effectiveness of this actuation system.The integrated design approach combines bionic structural design with combustible fuel formulations to offer new possibilities for the development of highly flexible robotic systems capable of negotiating obstacles in disaster response scenarios.展开更多
This paper presents a mechanical model of jumping robot based on the biological mechanism analysis of frog. By biological observation and kinematic analysis the frog jump is divided into take-offphase, aerial phase an...This paper presents a mechanical model of jumping robot based on the biological mechanism analysis of frog. By biological observation and kinematic analysis the frog jump is divided into take-offphase, aerial phase and landing phase. We find the similar trajectories of hindlimb joints during jump, the important effect of foot during take-off and the role of forelimb in supporting the body. Based on the observation, the frog jump is simplified and a mechanical model is put forward. The robot leg is represented by a 4-bar spring/linkage mechanism model, which has three Degrees of Freedom （DOF） at hip joint and one DOF （passive） at tarsometatarsal joint on the foot. The shoulder and elbow joints each has one DOF for the balancing function of arm. The ground reaction force of the model is analyzed and compared with that of frog during take-off. The results show that the model has the same advantages of low likelihood of premature lift-off and high efficiency as the frog. Analysis results and the model can be employed to develop and control a robot capable of mimicking the jumping behavior of frog.展开更多
This study introduces a wheeled robot platform with jumping ability.To realize jump movement,a twisted string lever mechanism is used,which is characterized by its compactness and variable gear ratio.Based on robot mo...This study introduces a wheeled robot platform with jumping ability.To realize jump movement,a twisted string lever mechanism is used,which is characterized by its compactness and variable gear ratio.Based on robot modeling and parameter calculation,the twisted string actuator shows its advantage when applied to situations such as jumping of robots,where explosiveness of output force matters.In this study,a wheeled bipedal robot equipped with the twisted string actuator is designed and fabricated.It weighs 16.0 kg and can perform jumps when it encounters obstacles.The prototype can jump up to a stage with a maximum height of 1.0 m using electric power,which is approximately 1.5 times the height of its stretched legs.展开更多
Endowing quadruped robots with the skill to forward jump is conducive to making it overcome barriers and pass through complex terrains.In this paper,a model-free control architecture with target-guided policy optimiza...Endowing quadruped robots with the skill to forward jump is conducive to making it overcome barriers and pass through complex terrains.In this paper,a model-free control architecture with target-guided policy optimization and deep reinforcement learn-ing(DRL)for quadruped robot jumping is presented.First,the jumping phase is divided into take-off and flight-landing phases,and op-timal strategies with soft actor-critic(SAC)are constructed for the two phases respectively.Second,policy learning including expecta-tions,penalties in the overall jumping process,and extrinsic excitations is designed.Corresponding policies and constraints are all provided for successful take-off,excellent flight attitude and stable standing after landing.In order to avoid low efficiency of random ex-ploration,a curiosity module is introduced as extrinsic rewards to solve this problem.Additionally,the target-guided module encour-ages the robot explore closer and closer to desired jumping target.Simulation results indicate that the quadruped robot can realize com-pleted forward jumping locomotion with good horizontal and vertical distances,as well as excellent motion attitudes.展开更多
Miniature jumping robots(MJRs)have difficulty executing autonomous movements in unstructured environments with obstacles because of their limited perception and computing resources.This study investigates the obstacle...Miniature jumping robots(MJRs)have difficulty executing autonomous movements in unstructured environments with obstacles because of their limited perception and computing resources.This study investigates the obstacle detection and autonomous stair climbing methods for MJRs.We propose an obstacle detection method based on a combination of attitude and distance detections,as well as MJRs’motion.A MEMS inertial sensor collects the yaw angle of the robot,and a ranging sensor senses the distance between the robot and the obstacle to estimate the size of the obstacle.We also propose an autonomous stair climbing algorithm based on the obstacle detection method.The robot can detect the height and width of stairs and its position relative to the stairs and then repeatedly jump to climb them step by step.Moreover,the height,width,and position are sent to a control terminal through a wireless sensor network to update the information regarding the MJR and stairs in a control interface.Furthermore,we conduct stair detection,modeling,and stair climbing experiments on the MJR and obtain acceptable precisions for autonomous obstacle negotiation.Thus,the proposed obstacle detection and stair climbing methods can enhance the locomotion capability of the MJR in environmental monitoring,search and rescue,etc.展开更多
基金support by the National Natural ScienceFoundation of China(52275011)Natural Science Foundation ofGuangdong Province(2023B1515020080)+4 种基金Young Elite ScientistsSponsorship Program by CAST(2021QNRC001)Guangdong Basic and Applied Basic Research Foundation(2023A1515011253)Higher Education Institution Featured Innovation Project of Department of Education of Guangdong Province(2023KTSCX138)Natural Science Foundation of Guangzhou(2024A04J2552)Fundamental Research Funds for the Central Universities.
文摘In natural,aquatic and amphibians creatures have evolved exceptional impulsive-based,momentum-based,and mixed water-air cross domain locomotion capabilities through long-term natural selection,providing significant reference and inspiration for the design of aquatic jumping robots.In recent years,inspired by nature and biology,researchers have turned to jumping as a potential mode of locomotion for aquatic robots,aiming to improve their adaptability across water-air environment.However,the performance of these robots remains significantly limited,far from meeting practical application requirements,due to issues like inadequate propulsion efficiency,high structural resistance,and excessive weight.This paper summarizes the key features of bioinspired aquatic jumping robots,including their bioinspired structural designs,jumping mechanisms,and actuators,while evaluating their jumping performance.Finally,the current challenges are analyzed,and future prospects for development are discussed.
基金Supported by New Chongqing Innovative Young Talent Project(Grant No.2024NSCQ-qncxX0468)Natural Science Foundation of Chongqing(Grant No.CSTB2022NSCQ-MSX1283)Dreams Foundation of Jianghuai Advanced Technology Center(Grant No.2023-ZM01Z007).
文摘Jumping robots are highly capable of overcoming obstacles.However,their explosive force,short duration,and variable trajectories pose significant challenges in achieving stable landings in complex environments.Traditional approaches rely heavily on sophisticated algorithms and electronic sensor feedback systems to ensure landing stability,which increases the implementation complexity.Inspired by the process by which humans complete jumps and achieve stable landings in complex environments,this study proposes a novel landing control method for jumping robots.By designing a mechanically coupled perception-control structure based on mechanical logic computing,the robot simulates the real-time transmission of neural signals triggered by the ground reaction force(GRF)in human reflex loops,thereby simplifying traditional control approaches.Through the collaboration of a flexible mechanical spine and a bistable foot module,the robot achieves an average height of 16.8 cm and a distance of 25.36 cm in consecutive stable jumps.It also demonstrates reliable landing performance on challenging terrain including slopes and cobblestone surfaces.This paper proposes a novel landing control method for jumping robots that simplifies traditional control approaches.The method enables stable landings on complex terrain through a mechanically coupled perception-control structure.This approach has potential applications in tasks requiring mobility over uneven terrain,such as search and rescue.
基金supported by the National Natural Science Foundation of China(Nos.51375383).
文摘In this study,we present a small,integrated jumping-crawling robot capable of intermittent jumping and self-resetting.Compared to robots with a single mode of locomotion,this multi-modal robot exhibits enhanced obstacle-surmounting capabilities.To achieve this,the robot employs a novel combination of a jumping module and a crawling module.The jumping module features improved energy storage capacity and an active clutch.Within the constraints of structural robustness,the jumping module maximizes the explosive power of the linear spring by utilizing the mechanical advantage of a closed-loop mechanism and controls the energy flow of the jumping module through an active clutch mechanism.Furthermore,inspired by the limb movements of tortoises during crawling and self-righting,a single-degree-of-freedom spatial four-bar crawling mechanism was designed to enable crawling,steering,and resetting functions.To demonstrate its practicality,the integrated jumping-crawling robot was tested in a laboratory environment for functions such as jumping,crawling,self-resetting,and steering.Experimental results confirmed the feasibility of the proposed integrated jumping-crawling robot.
基金supported by the National Natural Science Foundation of China(No.32270460).
文摘Bio-inspired jumping robots have emerged as a promising solution for traversing complex terrains inaccessible to conventional locomotion systems.Drawing upon the exceptional jumping kinematics observed in insects,researchers have developed multiple robotic prototypes mimicking biological propulsion mechanisms.However,the principal technological barrier resides in actuator systems,where current energy storage technologies suffer from inadequate energy density,fundamentally limiting takeoff velocity and jumping height.To overcome these limitations,we present a novel combustion-explosive propulsion system exhibiting high mass-specific energy release and rapid acceleration characteristics.By integrating this propulsion mechanism with a unique jumping leg structure,experimental validation through prototype testing demonstrated vertical leaps reaching 20 cm(1.67 times body length)under laboratory conditions,accompanied by comprehensive thermodynamic modeling using ABAQUS simulations that validated the effectiveness of this actuation system.The integrated design approach combines bionic structural design with combustible fuel formulations to offer new possibilities for the development of highly flexible robotic systems capable of negotiating obstacles in disaster response scenarios.
基金the National High Technology Research and Development Program of China (No.2006AA04Z245)Program for Changjiang Scholars and Innovative Research Team in University (PCSIRT) (IRT0423)
文摘This paper presents a mechanical model of jumping robot based on the biological mechanism analysis of frog. By biological observation and kinematic analysis the frog jump is divided into take-offphase, aerial phase and landing phase. We find the similar trajectories of hindlimb joints during jump, the important effect of foot during take-off and the role of forelimb in supporting the body. Based on the observation, the frog jump is simplified and a mechanical model is put forward. The robot leg is represented by a 4-bar spring/linkage mechanism model, which has three Degrees of Freedom （DOF） at hip joint and one DOF （passive） at tarsometatarsal joint on the foot. The shoulder and elbow joints each has one DOF for the balancing function of arm. The ground reaction force of the model is analyzed and compared with that of frog during take-off. The results show that the model has the same advantages of low likelihood of premature lift-off and high efficiency as the frog. Analysis results and the model can be employed to develop and control a robot capable of mimicking the jumping behavior of frog.
基金Project supported by the Grant from Zhejiang Lab,China(No.2019KE0AD01)。
文摘This study introduces a wheeled robot platform with jumping ability.To realize jump movement,a twisted string lever mechanism is used,which is characterized by its compactness and variable gear ratio.Based on robot modeling and parameter calculation,the twisted string actuator shows its advantage when applied to situations such as jumping of robots,where explosiveness of output force matters.In this study,a wheeled bipedal robot equipped with the twisted string actuator is designed and fabricated.It weighs 16.0 kg and can perform jumps when it encounters obstacles.The prototype can jump up to a stage with a maximum height of 1.0 m using electric power,which is approximately 1.5 times the height of its stretched legs.
基金National Natural Science Foundation of China(No.61773374)National Key Research and Development Program of China(No.2017YFB1300104).
文摘Endowing quadruped robots with the skill to forward jump is conducive to making it overcome barriers and pass through complex terrains.In this paper,a model-free control architecture with target-guided policy optimization and deep reinforcement learn-ing(DRL)for quadruped robot jumping is presented.First,the jumping phase is divided into take-off and flight-landing phases,and op-timal strategies with soft actor-critic(SAC)are constructed for the two phases respectively.Second,policy learning including expecta-tions,penalties in the overall jumping process,and extrinsic excitations is designed.Corresponding policies and constraints are all provided for successful take-off,excellent flight attitude and stable standing after landing.In order to avoid low efficiency of random ex-ploration,a curiosity module is introduced as extrinsic rewards to solve this problem.Additionally,the target-guided module encour-ages the robot explore closer and closer to desired jumping target.Simulation results indicate that the quadruped robot can realize com-pleted forward jumping locomotion with good horizontal and vertical distances,as well as excellent motion attitudes.
基金supported in part by the National Natural Science Foundation of China(61873066 and 62173090)the Zhi Shan Scholars Program of Southeast University,China(2242020R40096).
文摘Miniature jumping robots(MJRs)have difficulty executing autonomous movements in unstructured environments with obstacles because of their limited perception and computing resources.This study investigates the obstacle detection and autonomous stair climbing methods for MJRs.We propose an obstacle detection method based on a combination of attitude and distance detections,as well as MJRs’motion.A MEMS inertial sensor collects the yaw angle of the robot,and a ranging sensor senses the distance between the robot and the obstacle to estimate the size of the obstacle.We also propose an autonomous stair climbing algorithm based on the obstacle detection method.The robot can detect the height and width of stairs and its position relative to the stairs and then repeatedly jump to climb them step by step.Moreover,the height,width,and position are sent to a control terminal through a wireless sensor network to update the information regarding the MJR and stairs in a control interface.Furthermore,we conduct stair detection,modeling,and stair climbing experiments on the MJR and obtain acceptable precisions for autonomous obstacle negotiation.Thus,the proposed obstacle detection and stair climbing methods can enhance the locomotion capability of the MJR in environmental monitoring,search and rescue,etc.
