Conference Proceeding

An asymmetric robotic catapult based on the closed elastica for jumping robot

Dept. of Comput. Sci. & Eng., Nagoya Inst. of Technol. (NIT), Nagoya
Proceedings - IEEE International Conference on Robotics and Automation 06/2008; DOI:10.1109/ROBOT.2008.4543214 ISBN: 978-1-4244-1646-2 pp.232 - 237 In proceeding of: Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Source: IEEE Xplore

ABSTRACT In this paper, we propose a new asymmetric robotic catapult based on the closed elastica. The conventional robotic catapults based on the closed elastica which the authors developed are the robotic elements for generating impulsive motions by utilizing a snap-through buckling. In a typical closed elastica, the two ends of an elastic strip are fixed to a passive rotational joint and an active rotational joint, respectively. Here we found that by adding only a range limitation to the passive rotational joint, compared to the conventional type, the deforming shape of the elastic strip becomes more complicated and 40% more elastic energy can be stored. Using this modification, we can develop a compact jumping robot which is able to leap over 700[mm] away and 200[mm] high.

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Keywords

active rotational joint
 
closed elastica
 
compact
 
conventional robotic catapults
 
elastic energy
 
elastic strip
 
elastica
 
impulsive motions
 
leap
 
new asymmetric robotic catapult
 
passive rotational joint
 
range limitation
 
robotic elements
 
snap-through