A Miniature Jumping Robot Using Froghopper’s Direction-Changing Concept
To improve the maneuverability and agility of jumping robots, a variety of steerable jumping mechanisms have been actively studied. The steering ability enables a robot to reach a particular target by altering its jumping direction. To make this possible, we propose a miniature steerable jumping rob...
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MDPI AG
2025-04-01
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| Series: | Biomimetics |
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| Online Access: | https://www.mdpi.com/2313-7673/10/5/264 |
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| author | Dong-Jun Lee Gwang-Pil Jung |
| author_facet | Dong-Jun Lee Gwang-Pil Jung |
| author_sort | Dong-Jun Lee |
| collection | DOAJ |
| description | To improve the maneuverability and agility of jumping robots, a variety of steerable jumping mechanisms have been actively studied. The steering ability enables a robot to reach a particular target by altering its jumping direction. To make this possible, we propose a miniature steerable jumping robot based on froghopper’s jumping principle: Moment cancellation is achieved via synchronous leg rotation, and a predictable jumping direction is achieved through an almost zero stiffness femoro-tibial joint. To satisfy these working principles, the robot is designed to have a four-bar shaped body structure and wire-driven knee joints. The four-bar body always synchronizes the leg operation by mechanically coupling the two jumping legs, which enables the robot to cancel out the moments and finally reduce the needless body spin. The knee joints are actuated using wires, and the wires are kept loose to maintain joint stiffness almost zero during take-off. Accordingly, the jumping direction is successfully predicted to determine the initial posture of the tibia. As a result, the proposed robot can change the jumping direction from −20 degrees to 20 degrees while reducing needless body spin. |
| format | Article |
| id | doaj-art-a8ea775bb52443f7b67131339bf405e4 |
| institution | OA Journals |
| issn | 2313-7673 |
| language | English |
| publishDate | 2025-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj-art-a8ea775bb52443f7b67131339bf405e42025-08-20T02:33:43ZengMDPI AGBiomimetics2313-76732025-04-0110526410.3390/biomimetics10050264A Miniature Jumping Robot Using Froghopper’s Direction-Changing ConceptDong-Jun Lee0Gwang-Pil Jung1Department of Mechanical and Automotive Engineering, Seoul National University of Science and Technology, Seoul 01811, Republic of KoreaDepartment of Mechanical and Automotive Engineering, Seoul National University of Science and Technology, Seoul 01811, Republic of KoreaTo improve the maneuverability and agility of jumping robots, a variety of steerable jumping mechanisms have been actively studied. The steering ability enables a robot to reach a particular target by altering its jumping direction. To make this possible, we propose a miniature steerable jumping robot based on froghopper’s jumping principle: Moment cancellation is achieved via synchronous leg rotation, and a predictable jumping direction is achieved through an almost zero stiffness femoro-tibial joint. To satisfy these working principles, the robot is designed to have a four-bar shaped body structure and wire-driven knee joints. The four-bar body always synchronizes the leg operation by mechanically coupling the two jumping legs, which enables the robot to cancel out the moments and finally reduce the needless body spin. The knee joints are actuated using wires, and the wires are kept loose to maintain joint stiffness almost zero during take-off. Accordingly, the jumping direction is successfully predicted to determine the initial posture of the tibia. As a result, the proposed robot can change the jumping direction from −20 degrees to 20 degrees while reducing needless body spin.https://www.mdpi.com/2313-7673/10/5/264bio-inspired robotjumping robotdirection changefroghopper |
| spellingShingle | Dong-Jun Lee Gwang-Pil Jung A Miniature Jumping Robot Using Froghopper’s Direction-Changing Concept Biomimetics bio-inspired robot jumping robot direction change froghopper |
| title | A Miniature Jumping Robot Using Froghopper’s Direction-Changing Concept |
| title_full | A Miniature Jumping Robot Using Froghopper’s Direction-Changing Concept |
| title_fullStr | A Miniature Jumping Robot Using Froghopper’s Direction-Changing Concept |
| title_full_unstemmed | A Miniature Jumping Robot Using Froghopper’s Direction-Changing Concept |
| title_short | A Miniature Jumping Robot Using Froghopper’s Direction-Changing Concept |
| title_sort | miniature jumping robot using froghopper s direction changing concept |
| topic | bio-inspired robot jumping robot direction change froghopper |
| url | https://www.mdpi.com/2313-7673/10/5/264 |
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