Design of a bio-mimetic jumping robot

摘要

In this study we present the preliminary design of a jumping robot whose purpose is to give mobility to a 7.5 gr payload. The robot should be able to relocate itself in a workspace of 2.5 m height and 10 m radius in an unknown environment. In order to design such a robot we assumed that the mechanism should be 5 to 7 times larger in size then the payload, and that the weight of the robot should not exceed 25 gr. The basic gait of the robot is jumping in a controlled direction. The distance needed to traverse is achieved by jumping to a constant height and controlling the orientation and the position of the robot by de-folding miniature steering wings. In addition the wings control the stability of the robot in the air.