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1、2011IEEEInternationalConferenceonRoboticsandAutomationShanghaiInternationalConferenceCenterMay9-13,2011,Shanghai,ChinaDevelopmentofaControllableandContinuousJumpingRobotJianguoZhao,NingXi,BingtuanGao,MattW.Mutka,andLiXiaoAbstract—Aminiaturerobotwithcontinuousjumpingabilityispres
2、entedinthispaper.Therobothasadimensionabout6cm×8cm×2cmandweighs20grams.Toachievecontinuousjumping,variousmechanismsareneededincludingthejumpingmechanism,energystoreandreleasemechanism,self-rightingmechanism,andjumpingdirectionchangingmechanism.Thedesignandanalysisforthosemechani
3、smsareelaboratedinthispaper.Moreover,implementationandexperimentalresultsarealsopresented.Itisshownthattherobotcanjumphigherthan55cmwitha75◦takeoffangle.Therobotcanbeusedasmobilesensorsanddeployedintheareasofruggedterrainandnaturalobstacleswhicharenotsuitableforsensorswithwheels
4、.Fig.1.ThenewjumpingrobotI.INTRODUCTIONRecenttechnologyadvancesinmechanical,electronics,isgivenin[2],andamorerecentreviewisperformedin[3].communication,andnetworkingmakeitpossibletobuildInalltheserobots,jumpingisachievedbyasuddenreleaseminiaturerobotsanddeploymanyofthemtoformamo
5、bileoftheenergystoredintherobot.Themostpopularmethodsensornetwork.Thismobilesensornetworkhasvariousisspring-baseddesignwhichutilizesspringstostoretheapplicationssuchassearchandrescue,surveillance,andenergy[2]-[9].Othermethodsincludepneumatic-basedde-environmentalmonitoring.Thisp
6、aperdescribesourrecentlysign[10],combustion-baseddesign[11],momentum-baseddevelopedminiaturejumpingrobotforsuchapplications.design[12],shapememoryalloybaseddesign[13],andComparedwiththetraditionalwheeledsensors,thejumpingelastomer-baseddesign[14].onescanovercomeobstacleshigherth
7、anthemselves.ThisInourcaseofminiaturejumpingrobot,constrainedbyabilitymakesjumpinganideallocomotionmethodinthethesizeandweightlimits,themostpromisingwayistouseareasofruggedterrainandnaturalobstacles.spring.TheadvantageofourrobotisthatitcanachieveTousejumpingasalocomotionmethod,t
8、herobotmustcontinuousjumpingwithasinglemotor.Th
