Abstract
Jumping robots with a balance control mechanism using an inertial tail have been actively studied to overcome various obstacles. However, there have been no studies to increase the stability of the jumping robot's legs, which move rapidly during jumping, and to reduce the volume of the tail mechanism. In this paper, we focus on a prototype of guinea fowl jumping robot to improve the stability during the rapid jumping motion, and we introduce a momentum wheel mechanism to reduce the occupied volume of the tail mechanism. In addition, we suggest a basic study to make continuous jumping motion by using the momentum wheel mechanism to change the jumping angle, jumping height, and jumping distance. A theoretical analysis, simulation, prototype fabrication, and experiment of a guinea fowl jumping robot with a 1-axis momentum wheel mechanism were carried out. Besides, we confirmed that the passive hallux structure contributed to the jumping stability, and we verified that the prototype model could properly land on the ground by controlling the posture after vertical jumping using the momentum wheel mechanism.
Original language | English |
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Title of host publication | 2021 24th International Conference on Mechatronics Technology, ICMT 2021 |
Editors | JJ Chong, Quang Dinh Truong |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
ISBN (Electronic) | 9781665424592 |
DOIs | |
State | Published - 2021 |
Event | 24th International Conference on Mechatronics Technology, ICMT 2021 - Singapore, Singapore Duration: 18 Dec 2021 → 22 Dec 2021 |
Publication series
Name | 2021 24th International Conference on Mechatronics Technology, ICMT 2021 |
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Conference
Conference | 24th International Conference on Mechatronics Technology, ICMT 2021 |
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Country/Territory | Singapore |
City | Singapore |
Period | 18/12/21 → 22/12/21 |
Bibliographical note
Publisher Copyright:© 2021 IEEE.
Keywords
- Guinea fowl
- hallux model
- jumping robot
- linkage model
- momentum wheel
- trigger mechanism