Design principles for efficient, repeated jumpgliding
Combined jumping and gliding locomotion, or 'jumpgliding', can be an efficient way for small robots or animals to travel over cluttered terrain. This paper presents functional requirements and models for a simple jumpglider which formalize the benefits and limitations of using aerodynamic...
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| Veröffentlicht in: | Bioinspiration & biomimetics 2014-06, Vol.9 (2), p.025009-025009 |
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| container_title | Bioinspiration & biomimetics |
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| creator | Desbiens, Alexis Lussier Pope, Morgan T Christensen, David L Hawkes, Elliot W Cutkosky, Mark R |
| description | Combined jumping and gliding locomotion, or 'jumpgliding', can be an efficient way for small robots or animals to travel over cluttered terrain. This paper presents functional requirements and models for a simple jumpglider which formalize the benefits and limitations of using aerodynamic surfaces to augment jumping ability. Analysis of the model gives insight into design choices and control strategies for higher performance and to accommodate special conditions such as a slippery launching surface. The model informs the design of a robotic platform that can perform repeated jumps using a carbon fiber spring and a pivoting wing. Experiments with two different versions of the platform agree with predictions from the model and demonstrate a significantly greater range, and lower cost-of-transport, than a comparable ballistic jumper. |
| doi_str_mv | 10.1088/1748-3182/9/2/025009 |
| format | Article |
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Biomim</addtitle><date>2014-06-01</date><risdate>2014</risdate><volume>9</volume><issue>2</issue><spage>025009</spage><epage>025009</epage><pages>025009-025009</pages><issn>1748-3182</issn><eissn>1748-3190</eissn><coden>BBIICI</coden><abstract>Combined jumping and gliding locomotion, or 'jumpgliding', can be an efficient way for small robots or animals to travel over cluttered terrain. This paper presents functional requirements and models for a simple jumpglider which formalize the benefits and limitations of using aerodynamic surfaces to augment jumping ability. Analysis of the model gives insight into design choices and control strategies for higher performance and to accommodate special conditions such as a slippery launching surface. The model informs the design of a robotic platform that can perform repeated jumps using a carbon fiber spring and a pivoting wing. 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| ispartof | Bioinspiration & biomimetics, 2014-06, Vol.9 (2), p.025009-025009 |
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| language | eng |
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| source | Institute of Physics Journals; MEDLINE |
| subjects | Aircraft - instrumentation Animals Biomimetics Biomimetics - instrumentation Biomimetics - methods Carbon fibers Computer Simulation Computer-Aided Design Design analysis dynamics Energy Transfer - physiology Equipment Design Equipment Failure Analysis exploration Feedback, Physiological - physiology Flight, Animal - physiology Gliding jumpgliding Jumping MAVs Models, Biological Platforms robotics Robotics - instrumentation Robots Strategy Wings, Animal - physiology |
| title | Design principles for efficient, repeated jumpgliding |
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