000140689 001__ 140689
000140689 005__ 20190316234612.0
000140689 0247_ $$2doi$$a10.1007/s10514-009-9173-4
000140689 022__ $$a0929-5593
000140689 02470 $$2ISI$$a000275455400005
000140689 037__ $$aARTICLE
000140689 245__ $$aSteerable Miniature Jumping Robot
000140689 269__ $$a2010
000140689 260__ $$bSpringer Verlag$$c2010
000140689 336__ $$aJournal Articles
000140689 520__ $$aJumping is used in nature by many small animals to locomote in cluttered environments or in rough terrain. It offers small systems the benefit of overcoming relatively large obstacles at a low energetic cost. In order to be able to perform repetitive jumps in a given direction, it is important to be able to upright after landing, steer and jump again. In this article, we review and evaluate the uprighting and steering principles of existing jumping robots and present a novel spherical robot with a mass of 14 g and a size of 18 cm that can jump up to 62 cm at a take-off angle of 75°, recover passively after landing, orient itself, and jump again. We describe its design details and fabrication methods, characterize its jumping performance, and demonstrate the remote controlled prototype repetitively moving over an obstacle course where it has to climb stairs and go through a window. (See videos 1–4 in the electronic supplementary material.)
000140689 6531_ $$aJumping Robot
000140689 6531_ $$aHybrid Locomotion
000140689 6531_ $$aSensor Networks
000140689 6531_ $$aAutonomous Robot
000140689 6531_ $$aSoft Robotics
000140689 700__ $$0243237$$aKovac, Mirko$$g172632
000140689 700__ $$aSchlegel, Manuel
000140689 700__ $$0240674$$aZufferey, Jean-Christophe$$g104340
000140689 700__ $$0240742$$aFloreano, Dario$$g111729
000140689 773__ $$j28$$k3$$q295-306$$tAutonomous Robots
000140689 8564_ $$uhttp://www.springerlink.com/content/y64187652016t834/$$zURL
000140689 8564_ $$s1387205$$uhttps://infoscience.epfl.ch/record/140689/files/AsPublished.pdf$$zn/a
000140689 8564_ $$s17584132$$uhttps://infoscience.epfl.ch/record/140689/files/Video_1_Uprighting_and_Steering_KovacEtAl.mpg$$zn/a
000140689 8564_ $$s11419898$$uhttps://infoscience.epfl.ch/record/140689/files/Video_2_The_Cost_of_the_Cage_KovacEtAl.m1v$$zn/a
000140689 8564_ $$s15343251$$uhttps://infoscience.epfl.ch/record/140689/files/Video_3_Adjustment_of_Jumping_Distance_KovacEtAl.m1v$$zn/a
000140689 8564_ $$s29710777$$uhttps://infoscience.epfl.ch/record/140689/files/Video_4_Locomotion_over_Obstacle_Course_KovacEtAl.m1v$$zn/a
000140689 909C0 $$0252161$$pLIS$$xU10370
000140689 909CO $$ooai:infoscience.tind.io:140689$$pSTI$$particle$$qGLOBAL_SET
000140689 917Z8 $$x255330
000140689 917Z8 $$x255330
000140689 937__ $$aLIS-ARTICLE-2009-008
000140689 973__ $$aEPFL$$rREVIEWED$$sPUBLISHED
000140689 980__ $$aARTICLE