Avian‐Inspired Perching Mechanism for Jumping Robots
The integration of multiple locomotion strategies and behaviors allows robots to extend the working environment and enhance the performance of each motion. This work integrates perching to a jumping robot to improve the jumping performance. The developed avian‐inspired perching device has a shock‐ab...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2023-06-01
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| Series: | Advanced Intelligent Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1002/aisy.202300072 |
| _version_ | 1797794261344714752 |
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| author | HyunGyu Kim Matthew A. Woodward Metin Sitti |
| author_facet | HyunGyu Kim Matthew A. Woodward Metin Sitti |
| author_sort | HyunGyu Kim |
| collection | DOAJ |
| description | The integration of multiple locomotion strategies and behaviors allows robots to extend the working environment and enhance the performance of each motion. This work integrates perching to a jumping robot to improve the jumping performance. The developed avian‐inspired perching device has a shock‐absorbing mechanism, which consist of a 3D printable flexible polymer material that absorbs the perching impact. This work characterizes the shock‐absorbing performance of the viscoelastic material as a function of hardness and thickness of the material, initial angles of a mechanism, mechanism length, perching speed, and perching angle. This work also characterizes the performance of mechanical interlocking and penetration as the engagement strategies for vertical surfaces. The performance of perching mechanism as a function of hardness of the target surface, contact angle of the claw, and performance of the shock absorption is observed. Finally, demonstrations to evaluate the perching mechanism's performance on the complete system are conducted, and the robot's performance enhancement with an integrated perching motion is shown. This work provides a design methodology to develop and integrate a perching mechanism into jumping robots. |
| first_indexed | 2024-03-13T03:00:10Z |
| format | Article |
| id | doaj.art-f8add84215114f20abf5c5e12e9ce4cc |
| institution | Directory Open Access Journal |
| issn | 2640-4567 |
| language | English |
| last_indexed | 2024-03-13T03:00:10Z |
| publishDate | 2023-06-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj.art-f8add84215114f20abf5c5e12e9ce4cc2023-06-27T15:38:29ZengWileyAdvanced Intelligent Systems2640-45672023-06-0156n/an/a10.1002/aisy.202300072Avian‐Inspired Perching Mechanism for Jumping RobotsHyunGyu Kim0Matthew A. Woodward1Metin Sitti2Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569 Stuttgart GermanyDepartment of Mechanical Engineering Tufts University Medford MA 02155 USAPhysical Intelligence Department Max Planck Institute for Intelligent Systems 70569 Stuttgart GermanyThe integration of multiple locomotion strategies and behaviors allows robots to extend the working environment and enhance the performance of each motion. This work integrates perching to a jumping robot to improve the jumping performance. The developed avian‐inspired perching device has a shock‐absorbing mechanism, which consist of a 3D printable flexible polymer material that absorbs the perching impact. This work characterizes the shock‐absorbing performance of the viscoelastic material as a function of hardness and thickness of the material, initial angles of a mechanism, mechanism length, perching speed, and perching angle. This work also characterizes the performance of mechanical interlocking and penetration as the engagement strategies for vertical surfaces. The performance of perching mechanism as a function of hardness of the target surface, contact angle of the claw, and performance of the shock absorption is observed. Finally, demonstrations to evaluate the perching mechanism's performance on the complete system are conducted, and the robot's performance enhancement with an integrated perching motion is shown. This work provides a design methodology to develop and integrate a perching mechanism into jumping robots.https://doi.org/10.1002/aisy.202300072bioinspirationjumping robotmechanismmultimodal locomotionperching |
| spellingShingle | HyunGyu Kim Matthew A. Woodward Metin Sitti Avian‐Inspired Perching Mechanism for Jumping Robots Advanced Intelligent Systems bioinspiration jumping robot mechanism multimodal locomotion perching |
| title | Avian‐Inspired Perching Mechanism for Jumping Robots |
| title_full | Avian‐Inspired Perching Mechanism for Jumping Robots |
| title_fullStr | Avian‐Inspired Perching Mechanism for Jumping Robots |
| title_full_unstemmed | Avian‐Inspired Perching Mechanism for Jumping Robots |
| title_short | Avian‐Inspired Perching Mechanism for Jumping Robots |
| title_sort | avian inspired perching mechanism for jumping robots |
| topic | bioinspiration jumping robot mechanism multimodal locomotion perching |
| url | https://doi.org/10.1002/aisy.202300072 |
| work_keys_str_mv | AT hyungyukim avianinspiredperchingmechanismforjumpingrobots AT matthewawoodward avianinspiredperchingmechanismforjumpingrobots AT metinsitti avianinspiredperchingmechanismforjumpingrobots |