{"title":"Development of the sub-10 cm, sub-100 g jumping–crawling robot","authors":"","doi":"10.1007/s11370-023-00497-z","DOIUrl":null,"url":null,"abstract":"<h3>Abstract</h3> <p>The accessible environment and locomotion performance of a robot are governed by the scale of the robot. The operating time and speed can be increased as the scale of the robot increases. However, the size of the robot does limit the accessible environment: the robot cannot pass through a space smaller than its size. Therefore, to explore an environment containing gaps, holes, and crevices, a small-scale robot is required. In this paper, we propose a sub-10 cm, sub-100 g scale jumping–crawling robot. The proposed robot consists of crawling, jumping, and self-righting mechanisms. The combination of crawling and jumping allowed the robot to overcome obstacles of various sizes. To reduce the weight and size of the robot, we employed a smart composite microstructures (SCM) design method and utilized a shape memory alloy (SMA) actuator. All the mechanisms and electronic components were compactly integrated into a single robot. The robot can crawl with the maximum speed of 3.94 cm/s (0.4 BL/s), and jump 19 cm which is 2.2 times its body height. </p>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":null,"pages":null},"PeriodicalIF":2.3000,"publicationDate":"2023-12-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Intelligent Service Robotics","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1007/s11370-023-00497-z","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0
Abstract
The accessible environment and locomotion performance of a robot are governed by the scale of the robot. The operating time and speed can be increased as the scale of the robot increases. However, the size of the robot does limit the accessible environment: the robot cannot pass through a space smaller than its size. Therefore, to explore an environment containing gaps, holes, and crevices, a small-scale robot is required. In this paper, we propose a sub-10 cm, sub-100 g scale jumping–crawling robot. The proposed robot consists of crawling, jumping, and self-righting mechanisms. The combination of crawling and jumping allowed the robot to overcome obstacles of various sizes. To reduce the weight and size of the robot, we employed a smart composite microstructures (SCM) design method and utilized a shape memory alloy (SMA) actuator. All the mechanisms and electronic components were compactly integrated into a single robot. The robot can crawl with the maximum speed of 3.94 cm/s (0.4 BL/s), and jump 19 cm which is 2.2 times its body height.
期刊介绍：
The journal directs special attention to the emerging significance of integrating robotics with information technology and cognitive science (such as ubiquitous and adaptive computing,information integration in a distributed environment, and cognitive modelling for human-robot interaction), which spurs innovation toward a new multi-dimensional robotic service to humans. The journal intends to capture and archive this emerging yet significant advancement in the field of intelligent service robotics. The journal will publish original papers of innovative ideas and concepts, new discoveries and improvements, as well as novel applications and business models which are related to the field of intelligent service robotics described above and are proven to be of high quality. The areas that the Journal will cover include, but are not limited to: Intelligent robots serving humans in daily life or in a hazardous environment, such as home or personal service robots, entertainment robots, education robots, medical robots, healthcare and rehabilitation robots, and rescue robots (Service Robotics); Intelligent robotic functions in the form of embedded systems for applications to, for example, intelligent space, intelligent vehicles and transportation systems, intelligent manufacturing systems, and intelligent medical facilities (Embedded Robotics); The integration of robotics with network technologies, generating such services and solutions as distributed robots, distance robotic education-aides, and virtual laboratories or museums (Networked Robotics).
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