We demonstrate a jumping robot that reaches high (7.6 m) and fast (190 ms stance time) jumps from a single long leg driven by a direct-drive transmission, without elastic energy storage. At 281 g, it achieves the highest jump yet reported for an electrically actuated, spring-free system. The leg uses a new fabric-wrap transmission that provides a variable mechanical advantage, keeping a small electric motor near its peak power output through the stroke while bracing the long, lightweight leg against buckling. A balancing module at the top of the leg uses small propellers to control the leg's orientation on the ground and in the air, where the long leg provides a large moment arm for the control torques. The robot is validated outdoors with vertical jumps, attitude control on the ground and in flight, and tilted jumps.
Hexapod robots can achieve static stability with fewer actuated joints than bipeds or quadrupeds, yet many platforms still use 3-DOF legs, increasing weight and continuous torque requirement with limited gain in locomotion capability on flat, inclined and moderately rough terrains. We release Spiderbot, an open-source...
Jumping robots provide strong obstacle-crossing capability and adaptability to unstructured terrain. This paper proposes a jerboa-inspired jumping mechanism integrating a near-vertical leg linkage, a planar-torsion-spring series elastic actuator, and a rope-driven articulated tail. The leg mechanism is optimized to red...
Xiang Kai, Jian Yang, Kun Yang et al.· International Conference on...· 0 citations
This paper presents a novel control strategy that enables seamless transitions between stationary standing and repetitive hopping in legged robots through dynamics morphing. At the core of the approach lies a stable nonlinear oscillator that can be continuously transformed into and from a regulator for vertical center...
Hiroshi Atsuta, T. Sugihara· Nonlinear dynamics· 0 citations
Spider robots are widely preferred due to their superior mobility enabled by multi-legged structures and articulated joints, which allow effective locomotion on uneven terrain and obstacle negotiation. However, the mechanical complexity of legged systems may lead to limited payload capacity, a high number of moving par...
Yusuf Bolat, Hüseyin Ömerbaşoğlu, Merdan Özkahraman et al.· Konya Journal of Engineering...· 0 citations
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