A soft cube capable of controllable continuous jumping
Name
Li, Katzschmann, Rus - 2015 - A soft cube capable of controllable continuous jumping.pdf
Description
Main article
Size
1.48 MB
Format
Adobe PDF
Checksum (MD5)
79932ae3c5cc3fdd2fc205b6b3b4fe83
Author(s)
Li, Shuguang
Katzschmann, Robert Kevin
Rus, Daniela L
Date Issued
December 2015
Journal
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
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.
Version
Author's final manuscript
Abstract
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.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2015.7353598
