Self-righting, steering and takeoff angle adjusting for a jumping robot

This paper presents a 9 cm × 7 cm × 12 cm, 154 g jumping robot with self-righting, steering, and takeoff angle adjusting capabilities. The quick energy releasing function of the jumping mechanism is implemented by using an eccentric cam. The self-righting, steering, and takeoff angle adjusting capab...

Full description

Saved in:
Bibliographic Details
Main Authors: Jun Zhang, Guangming Song, Zhen Li, Guifang Qiao, Hongtao Sun, Aiguo Song
Format: Conference Proceeding
Language:English
Subjects:
DC motors
Force
Legged locomotion
Springs
Torque
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
cited_by
cites
container_end_page 2094
container_issue
container_start_page 2089
container_title
container_volume
creator Jun Zhang
Guangming Song
Zhen Li
Guifang Qiao
Hongtao Sun
Aiguo Song
description This paper presents a 9 cm × 7 cm × 12 cm, 154 g jumping robot with self-righting, steering, and takeoff angle adjusting capabilities. The quick energy releasing function of the jumping mechanism is implemented by using an eccentric cam. The self-righting, steering, and takeoff angle adjusting capabilities are achieved by adding a rotatable pole leg. The pole leg can prop up the body of the robot when it falls down. The pole leg can also steer the robot to turn at a step of about 24°. By adjusting the center of mass (COM), the robot can jump at different takeoff angles. Experimental results show that the constructed robot can jump more than 88 cm high at a takeoff angle of 82.7° and it can continuously jump to overcome stairs.
doi_str_mv 10.1109/IROS.2012.6385466
format conference_proceeding
fullrecord <record><control><sourceid>ieee_CHZPO</sourceid><recordid>TN_cdi_ieee_primary_6385466</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>6385466</ieee_id><sourcerecordid>6385466</sourcerecordid><originalsourceid>FETCH-LOGICAL-i175t-8b7b04510779de30760acbc4debaae84775183aa7ddd00c2c6ad063c02623ec83</originalsourceid><addsrcrecordid>eNo9UNtKw0AUXG9grfkA8WU_wMRzdrOXPErRWigUrD6XTfYkJqZN2aQP_r0pVp9mhhmGYRi7Q0gQIXtcvK3WiQAUiZZWpVqfsSgzFlNtJBqp8JxNBCoZg9X6gt38GUZe_hvKXrOo7xsAGDu1xGzC5mtqyzjU1edQ76oH3g9EYWTc7Twf3Bd1ZTnyqiXufHPojyledoE73hy2-6MKXd4Nt-yqdG1P0Qmn7OPl-X32Gi9X88XsaRnXaNQQ29zkkCoEYzJPEowGV-RF6il3jmxqjEIrnTPee4BCFNr5cWkBQgtJhZVTdv_bWxPRZh_qrQvfm9Mn8geGcFDK</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Self-righting, steering and takeoff angle adjusting for a jumping robot</title><source>IEEE Xplore All Conference Series</source><creator>Jun Zhang ; Guangming Song ; Zhen Li ; Guifang Qiao ; Hongtao Sun ; Aiguo Song</creator><creatorcontrib>Jun Zhang ; Guangming Song ; Zhen Li ; Guifang Qiao ; Hongtao Sun ; Aiguo Song</creatorcontrib><description>This paper presents a 9 cm × 7 cm × 12 cm, 154 g jumping robot with self-righting, steering, and takeoff angle adjusting capabilities. The quick energy releasing function of the jumping mechanism is implemented by using an eccentric cam. The self-righting, steering, and takeoff angle adjusting capabilities are achieved by adding a rotatable pole leg. The pole leg can prop up the body of the robot when it falls down. The pole leg can also steer the robot to turn at a step of about 24°. By adjusting the center of mass (COM), the robot can jump at different takeoff angles. Experimental results show that the constructed robot can jump more than 88 cm high at a takeoff angle of 82.7° and it can continuously jump to overcome stairs.</description><identifier>ISSN: 2153-0858</identifier><identifier>ISBN: 1467317373</identifier><identifier>ISBN: 9781467317375</identifier><identifier>EISSN: 2153-0866</identifier><identifier>EISBN: 9781467317351</identifier><identifier>EISBN: 1467317365</identifier><identifier>EISBN: 9781467317368</identifier><identifier>EISBN: 1467317357</identifier><identifier>DOI: 10.1109/IROS.2012.6385466</identifier><language>eng</language><publisher>IEEE</publisher><subject>DC motors ; Force ; Legged locomotion ; Springs ; Torque</subject><ispartof>2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012, p.2089-2094</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/6385466$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2058,27925,54555,54920,54932</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/6385466$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Jun Zhang</creatorcontrib><creatorcontrib>Guangming Song</creatorcontrib><creatorcontrib>Zhen Li</creatorcontrib><creatorcontrib>Guifang Qiao</creatorcontrib><creatorcontrib>Hongtao Sun</creatorcontrib><creatorcontrib>Aiguo Song</creatorcontrib><title>Self-righting, steering and takeoff angle adjusting for a jumping robot</title><title>2012 IEEE/RSJ International Conference on Intelligent Robots and Systems</title><addtitle>IROS</addtitle><description>This paper presents a 9 cm × 7 cm × 12 cm, 154 g jumping robot with self-righting, steering, and takeoff angle adjusting capabilities. The quick energy releasing function of the jumping mechanism is implemented by using an eccentric cam. The self-righting, steering, and takeoff angle adjusting capabilities are achieved by adding a rotatable pole leg. The pole leg can prop up the body of the robot when it falls down. The pole leg can also steer the robot to turn at a step of about 24°. By adjusting the center of mass (COM), the robot can jump at different takeoff angles. Experimental results show that the constructed robot can jump more than 88 cm high at a takeoff angle of 82.7° and it can continuously jump to overcome stairs.</description><subject>DC motors</subject><subject>Force</subject><subject>Legged locomotion</subject><subject>Springs</subject><subject>Torque</subject><issn>2153-0858</issn><issn>2153-0866</issn><isbn>1467317373</isbn><isbn>9781467317375</isbn><isbn>9781467317351</isbn><isbn>1467317365</isbn><isbn>9781467317368</isbn><isbn>1467317357</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2012</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><recordid>eNo9UNtKw0AUXG9grfkA8WU_wMRzdrOXPErRWigUrD6XTfYkJqZN2aQP_r0pVp9mhhmGYRi7Q0gQIXtcvK3WiQAUiZZWpVqfsSgzFlNtJBqp8JxNBCoZg9X6gt38GUZe_hvKXrOo7xsAGDu1xGzC5mtqyzjU1edQ76oH3g9EYWTc7Twf3Bd1ZTnyqiXufHPojyledoE73hy2-6MKXd4Nt-yqdG1P0Qmn7OPl-X32Gi9X88XsaRnXaNQQ29zkkCoEYzJPEowGV-RF6il3jmxqjEIrnTPee4BCFNr5cWkBQgtJhZVTdv_bWxPRZh_qrQvfm9Mn8geGcFDK</recordid><startdate>201210</startdate><enddate>201210</enddate><creator>Jun Zhang</creator><creator>Guangming Song</creator><creator>Zhen Li</creator><creator>Guifang Qiao</creator><creator>Hongtao Sun</creator><creator>Aiguo Song</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>201210</creationdate><title>Self-righting, steering and takeoff angle adjusting for a jumping robot</title><author>Jun Zhang ; Guangming Song ; Zhen Li ; Guifang Qiao ; Hongtao Sun ; Aiguo Song</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-8b7b04510779de30760acbc4debaae84775183aa7ddd00c2c6ad063c02623ec83</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2012</creationdate><topic>DC motors</topic><topic>Force</topic><topic>Legged locomotion</topic><topic>Springs</topic><topic>Torque</topic><toplevel>online_resources</toplevel><creatorcontrib>Jun Zhang</creatorcontrib><creatorcontrib>Guangming Song</creatorcontrib><creatorcontrib>Zhen Li</creatorcontrib><creatorcontrib>Guifang Qiao</creatorcontrib><creatorcontrib>Hongtao Sun</creatorcontrib><creatorcontrib>Aiguo Song</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Xplore</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Jun Zhang</au><au>Guangming Song</au><au>Zhen Li</au><au>Guifang Qiao</au><au>Hongtao Sun</au><au>Aiguo Song</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Self-righting, steering and takeoff angle adjusting for a jumping robot</atitle><btitle>2012 IEEE/RSJ International Conference on Intelligent Robots and Systems</btitle><stitle>IROS</stitle><date>2012-10</date><risdate>2012</risdate><spage>2089</spage><epage>2094</epage><pages>2089-2094</pages><issn>2153-0858</issn><eissn>2153-0866</eissn><isbn>1467317373</isbn><isbn>9781467317375</isbn><eisbn>9781467317351</eisbn><eisbn>1467317365</eisbn><eisbn>9781467317368</eisbn><eisbn>1467317357</eisbn><abstract>This paper presents a 9 cm × 7 cm × 12 cm, 154 g jumping robot with self-righting, steering, and takeoff angle adjusting capabilities. The quick energy releasing function of the jumping mechanism is implemented by using an eccentric cam. The self-righting, steering, and takeoff angle adjusting capabilities are achieved by adding a rotatable pole leg. The pole leg can prop up the body of the robot when it falls down. The pole leg can also steer the robot to turn at a step of about 24°. By adjusting the center of mass (COM), the robot can jump at different takeoff angles. Experimental results show that the constructed robot can jump more than 88 cm high at a takeoff angle of 82.7° and it can continuously jump to overcome stairs.</abstract><pub>IEEE</pub><doi>10.1109/IROS.2012.6385466</doi><tpages>6</tpages></addata></record>
fulltext fulltext_linktorsrc
identifier ISSN: 2153-0858
ispartof 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012, p.2089-2094
issn 2153-0858
2153-0866
language eng
recordid cdi_ieee_primary_6385466
source IEEE Xplore All Conference Series
subjects DC motors
Force
Legged locomotion
Springs
Torque
title Self-righting, steering and takeoff angle adjusting for a jumping robot
url http://sfxeu10.hosted.exlibrisgroup.com/loughborough?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2024-12-27T22%3A08%3A49IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_CHZPO&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Self-righting,%20steering%20and%20takeoff%20angle%20adjusting%20for%20a%20jumping%20robot&rft.btitle=2012%20IEEE/RSJ%20International%20Conference%20on%20Intelligent%20Robots%20and%20Systems&rft.au=Jun%20Zhang&rft.date=2012-10&rft.spage=2089&rft.epage=2094&rft.pages=2089-2094&rft.issn=2153-0858&rft.eissn=2153-0866&rft.isbn=1467317373&rft.isbn_list=9781467317375&rft_id=info:doi/10.1109/IROS.2012.6385466&rft.eisbn=9781467317351&rft.eisbn_list=1467317365&rft.eisbn_list=9781467317368&rft.eisbn_list=1467317357&rft_dat=%3Cieee_CHZPO%3E6385466%3C/ieee_CHZPO%3E%3Cgrp_id%3Ecdi_FETCH-LOGICAL-i175t-8b7b04510779de30760acbc4debaae84775183aa7ddd00c2c6ad063c02623ec83%3C/grp_id%3E%3Coa%3E%3C/oa%3E%3Curl%3E%3C/url%3E&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=6385466&rfr_iscdi=true