A soft cube capable of controllable continuous jumping
Soft-bodied robots are designed to work in the physical world with a high compliance, while most of them lack in highly dynamic motion. In this paper, we present a soft-bodied jumping robot, which leverages its body's elasticity to achieve a highly dynamic passive bouncing motion after an activ...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2018
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| Online Access: | http://hdl.handle.net/1721.1/115949 https://orcid.org/0000-0002-0856-9715 https://orcid.org/0000-0001-7143-7259 https://orcid.org/0000-0001-5473-3566 |
| _version_ | 1826206562610315264 |
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| author | Li, Shuguang Katzschmann, Robert Kevin Rus, Daniela L |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Li, Shuguang Katzschmann, Robert Kevin Rus, Daniela L |
| author_sort | Li, Shuguang |
| collection | MIT |
| description | Soft-bodied robots are designed to work in the physical world with a high compliance, while most of them lack in highly dynamic motion. In this paper, we present a soft-bodied jumping robot, which leverages its body's elasticity to achieve a highly dynamic passive bouncing motion after an active jumping motion. This robot has a cubic shape. It is covered by silicone foam, and each of its six faces has an opening to allow for jumping actuation. By winding up and releasing an elastic strip, the robot can jump in two directions at any orientation. We present the design, and fabrication process, and experimental results. By comparing this robot with a rigid version of the robot, we show that this soft-bodied robot can use a single jump to travel longer forward than its rigid counterpart. |
| first_indexed | 2024-09-23T13:34:55Z |
| format | Article |
| id | mit-1721.1/115949 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T13:34:55Z |
| publishDate | 2018 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1159492022-09-28T14:49:46Z A soft cube capable of controllable continuous jumping Li, Shuguang Katzschmann, Robert Kevin Rus, Daniela L Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Mechanical Engineering Li, Shuguang Katzschmann, Robert Kevin Rus, Daniela L Soft-bodied robots are designed to work in the physical world with a high compliance, while most of them lack in highly dynamic motion. In this paper, we present a soft-bodied jumping robot, which leverages its body's elasticity to achieve a highly dynamic passive bouncing motion after an active jumping motion. This robot has a cubic shape. It is covered by silicone foam, and each of its six faces has an opening to allow for jumping actuation. By winding up and releasing an elastic strip, the robot can jump in two directions at any orientation. We present the design, and fabrication process, and experimental results. By comparing this robot with a rigid version of the robot, we show that this soft-bodied robot can use a single jump to travel longer forward than its rigid counterpart. 2018-05-29T19:12:12Z 2018-05-29T19:12:12Z 2015-12 2015-09 Article http://purl.org/eprint/type/ConferencePaper 978-1-4799-9994-1 http://hdl.handle.net/1721.1/115949 Shuguang Li, et al. "A Soft Cube Capable of Controllable Continuous Jumping." 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 28 September - 2 October, 2015, Hamburg, Germany, IEEE, 2015, pp. 1712–17. https://orcid.org/0000-0002-0856-9715 https://orcid.org/0000-0001-7143-7259 https://orcid.org/0000-0001-5473-3566 en_US http://dx.doi.org/10.1109/IROS.2015.7353598 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) Katzschmann |
| spellingShingle | Li, Shuguang Katzschmann, Robert Kevin Rus, Daniela L A soft cube capable of controllable continuous jumping |
| title | A soft cube capable of controllable continuous jumping |
| title_full | A soft cube capable of controllable continuous jumping |
| title_fullStr | A soft cube capable of controllable continuous jumping |
| title_full_unstemmed | A soft cube capable of controllable continuous jumping |
| title_short | A soft cube capable of controllable continuous jumping |
| title_sort | soft cube capable of controllable continuous jumping |
| url | http://hdl.handle.net/1721.1/115949 https://orcid.org/0000-0002-0856-9715 https://orcid.org/0000-0001-7143-7259 https://orcid.org/0000-0001-5473-3566 |
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