Proceedings Article10.1109/ROBOT.2005.1570285
A Small, Insect-Inspired Robot that Runs and Jumps
Bram Gilbert Antoon Lambrecht,Andrew D. Horchler,Roger D. Quinn +2 more
- 18 Apr 2005
- pp 1240-1245
TL;DR: The latest additions to the Mini-Whegs™ series of small robots are described, which incorporates fully independent running and jumping modes of locomotion and can leap as high as 18 cm.
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Abstract: This paper describes the latest additions to the Mini-Whegs™ series of small robots. These new robots are fully enclosed, measure 9 to 10 cm long, and range in weight from 90 g to 190 g. Mini-Whegs™ 7 weighs less than 90 g, but can run at over three body-lengths per second and surmount 3.8 cm high obstacles. The most recent iteration, Mini-Whegs™ 9J, incorporates fully independent running and jumping modes of locomotion. The controllable jumping mechanism allows it to leap as high as 18 cm.
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Citations
Redesign of the micromechanical flying insect in a power density context
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A template candidate for miniature legged robots in quasi-static motion
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References
RHex: A Simple and Highly Mobile Hexapod Robot:
TL;DR: The design and control of RHex is described, a power autonomous, untethered, compliant-legged hexapod robot that achieves fast and robust forward locomotion traveling at speeds up to one body length per second and traversing height variations well exceeding its body clearance.
Mechanics of a rapid running insect: two-, four- and six-legged locomotion.
Robert J. Full,Michael S. Tu +1 more
TL;DR: The mass-specific mechanical energy used to move the center of mass a given distance was similar to that measured for animals five orders of magnitude larger in mass, but was only one-hundredth of the metabolic cost.
Highly mobile and robust small quadruped robots
Jeremy M. Morrey,Bram Gilbert Antoon Lambrecht,Andrew D. Horchler,Roy E. Ritzmann,Roger D. Quinn +4 more
- 08 Dec 2003
TL;DR: This paper describes novel highly mobile small robots called "mini-whegs" that can run and jump that are derived from the larger whegs series of robots, which benefit from abstracted cockroach locomotion principles.
Biomechanics: froghopper insects leap to new heights.
TL;DR: Froghoppers (spittle bugs) are shown to be the real champions and that they achieve their supremacy by using a novel catapult mechanism for jumping.
Abstracted biological principles applied with reduced actuation improve mobility of legged vehicles
T.J. Allen,Roger D. Quinn,Richard J. Bachmann,Roy E. Ritzmann +3 more
- 03 Dec 2003
TL;DR: A bidirectional servo-driven body flexion joint has been implemented in Whegs II, which benefits from abstracted cockroach locomotion principles and has just one motor for propulsion and is shown to be highly mobile and energetic.