To find a common approach for the development of an efficient system that is able to achieve an omnidirectional jump, a jumping kinematic of a legged robot is proposed based on the behavior mechanism of a jumping spider. To satisfy the diversity of m...
This paper presents the design and development of a miniature integrated jumping and running robot that can adjust its route trajectory and has passive self-righting. The jumping mechanism of the robot was developed by using a novel design strategy t...
Robots have been critical instruments to exploration of extreme environments by providing access to environments beyond human limitations. Jumping robot concepts are attractive solutions to negotiate complex and cluttered terrain. However, among the...
In recent years, the research of planetary exploration robots has become an active field. The jumping robot has become a hot spot in this field. This paper presents a work modelling and simulating a three-legged jumping robot, which has a powerful fo...
To improve the maneuverability and agility of jumping robots, a variety of steerable jumping mechanisms have been actively studied. The steering ability enables a robot to reach a particular target by altering its jumping direction. To make this poss...
At present, most quadruped robots can move quickly and steadily on both flat and undulating ground; however, natural environments are complex and changeable, so it is important for a quadruped robot to be able to jump over obstacles immediately. Insp...
Dielectric elastomer (DE) is a soft material that can deform to a large degree under the action of an electric field. In this paper, multilayer DE films were stacked in parallel to prepare a 20-layer dielectric elastomer actuator (DEA). This DEA coul...
Most of the traditional quadruped robots are assembled with rigid trunks that make no active contributions to their locomotion performances. However, in the natural world, some quadrupeds expand their trunks when jumping. This paper proposes a metamo...
The jumping–gliding robot is a kind of locomotion platform with the capabilities to jump on the ground and glide through the air. The jumping of this robot has to juggle the requirements of initial velocity and posture for entry to gliding and progre...
In this study, we demonstrated a novel jumping robot that has the ability of accurate obstacle-crossing jumping and aerial pitch control. The novel robot can quickly leap high into the air with a powerful water jet thruster. The robot was designed to...
Complex and unknown areas in deep space exploration present major challenges to the motion ability of current space robots. Different from the traditional single-mode motion space robot, a compound motion robot with flexible movement and strong obsta...
Compliant bipedal robots demonstrate a potential for impact resistance and high energy efficiency through the introduction of compliant elements. However, it also adds to the difficulty of stable control of the robot. To motivate the control strategi...
The jumping motion of legged robots is an effective way to overcome obstacles in the rugged microgravity planetary exploration environment. At the same time, a quadruped robot with a manipulator can achieve operational tasks during movement, which is...
Aiming at highly dynamic locomotion and impact mitigation, this paper proposes the design and implementation of a symmetric legged robot. Based on the analysis of the three-leg topology in terms of force sensitivity, force production, and impact miti...
In this paper, soft-morphing, deformation control by fabric structures and soft-jumping mechanisms using magnetic yield points are studied. The durability and adaptability of existing rigid-base jumping mechanisms are improved by a soft-morphing proc...
Enhancing the explosive power output of the knee joints is critical for improving the agility and obstacle crossing of humanoid robots. However, a mismatch between the knee-to-CoM transmission ratio and jumping demands, together with power-loss–induc...
Bipedal walking robots are advancing research by performing challenging human-like movements in complex environments. Particularly, wheeled-bipedal robots are used in many indoor environments by overcoming the speed and maneuverability limitations of...
Jumping robots possess the capability to surmount formidable obstacles and are well-suited for navigating through complex terrain environments. However, most of the existing jumping robots face challenges in achieving stable jumping and they also hav...
Frogs are vertebrate amphibians with both efficient swimming and jumping abilities due to their well-developed hind legs. They can jump over obstacles that are many or even tens of times their size on land. However, most of the current jumping mechan...
In response to the problem of low energy storage density in the structure of existing miniature jumping robots, this study designed a parallel single-degree-of-freedom double six-link jumping robot by imitating the physiological structure and jumping...
Jumping is a locomotion strategy widely evolved in both invertebrates and vertebrates. In addition to terrestrial animals, several aquatic animals are also able to jump in their specific environments. In this paper, the state of the art of jumping ro...
Inertially Actuated Jumping Robots (IAJR) provide a promising new means of locomotion. The difficulty of IAJR is found in the hybrid nature of the ground contact/flying dynamics. Recent research studies in our Systems Lab have provided a family tree...
The remarkable ability of humans to perform jump maneuvers greatly contributes to the improvements of the obstacle negotiation ability of humans. The paper proposes a jumping control scheme for a bipedal robot to perform a high jump. The half-body of...
The highly dynamic legged jumping motion is a challenging research topic because of the lack of established control schemes that handle over-constrained control objectives well in the stance phase, which are coupled and affect each other, and control...
We developed a guinea fowl jumping robot with a one-axis momentum wheel mechanism with a passive hallux model. The Guinea fowl jumping robot was able to perform stable vertical jumping due to the linkage structure designed as a passive hallux model....
Jumping is a fundamental capability for wheeled-bipedal robots (WBRs) navigating unstructured terrains, with jump height and stability serving as indicators of the robot’s environmental adaptability. However, existing trajectory planning method...
Biologically inspired jumping robots exhibit exceptional movement capabilities and can quickly overcome obstacles. However, the stability and accuracy of jumping movements are significantly compromised by rapid changes in posture. Here, we propose a...
High vertical jumping motion, which enables a humanoid robot to leap over obstacles, is a direct reflection of its extreme motion capabilities. This article proposes a single sequential kino-dynamic trajectory optimization method to solve the whole-b...
This study proposes an improved bidirectional dynamic jump point search (JPS) algorithm to address key challenges in mobile robot path planning, including excessive node expansions, poor path smoothness, safety concerns, and extended search times. Th...
Complex and unknown terrains in deep space exploration present great challenges to existing exploration robots. In this paper, a multi-mode motion spherical robot with flexible motion and strong environmental adaptability is presented. The spherical...
Exploring the lunar complex and extreme terrain presents formidable challenges for conventional lunar rovers. To address these limitations, this study proposes a novel hexapod jumping hybrid robot that incorporates a “figure-of-eight” (bu...
This study developed a biomimetic jumping robot inspired by frogs to enhance its obstacle-crossing capabilities. The biological principles underlying the jumping biomechanics of frog hindlimbs were integrated into the robotic mechanism; quantitative...
The frog-inspired jumping robot is an interesting topic in the field of biomechanics and bionics. However, due to the frog’s explosive movement and large range of joint motion, it is very difficult to make their structure completely bionic. To...
In response to the challenges of obstacle avoidance and terrain negotiation encountered by wheel-legged robots in static environments with complex obstacles, this study introduces an enhanced A* path planning algorithm that incorporates a jump-point...
Biological systems can adaptively navigate multi-terrain environments via morphological and behavioral flexibility. While robotic systems increasingly achieve locomotion versatility in one or two domains, integrating terrestrial, aquatic, and aerial...
Extraterrestrial exploration presents unique challenges for robotic systems, as traditional rigid rovers face limitations in stowage volume, traction on unpredictable terrain, and susceptibility to damage. Soft robotics offers promising solutions thr...
This paper presents relative orientation and position detection methods for jumping sensor nodes (JSNs) recycling. The methods are based on motion captures of the JSNs by an RGB-D sensor mounted on a carrier robot and the dynamic cooperation between...
To improve path planning performance for mobile robots in complex environments, this study proposes a hybrid method combining an improved jump point search (JPS) algorithm with the dynamic window approach (DWA). In global planning, a quadrant pruning...
In high-dynamic bipedal locomotion control, robotic systems are often constrained by motor torque limitations, particularly during explosive tasks such as jumping. One of the key challenges in reinforcement learning lies in bridging the sim-to-real g...
Aiming to address the A* algorithm’s issues of traversing a large number of nodes, long search times, and large turning angles in path planning, a strategy for multiple improvements to the A* algorithm is proposed. Firstly, the calculation of t...
In this paper, we deal with Markov Jump Linear Systems-based filtering applied to robotic rehabilitation. The angular positions of an impedance-controlled exoskeleton, designed to help stroke and spinal cord injured patients during walking rehabilita...
To produce multi-modal mobility in complicated situations is a significant issue for soft robots. In this study, we show the conception, construction, and operation of an inchworm-impersonating dielectric elastomer-activated soft robot. The robot is...
In this paper, we investigate the problem of a dynamic event-triggered robust controller design for flexible robotic arm systems with continuous-time phase-type semi-Markov jump process. In particular, the change in moment of inertia is first conside...
Trampolines are recognized as a valuable tool in exercise and rehabilitation due to their unique properties like elasticity, rebound force, low-impact exercise, and enhancement of posture, balance, and cardiopulmonary function. To quantitatively asse...
This paper proposes the design and performance evaluation of a miniaturized continuous hopping robot RHop for unstructured terrain. The hopping mechanism of RHop is realized by an optimized geared symmetric closed-chain multi-bar mechanism that is tr...
Recent advances in big data technology collecting and analyzing large amounts of valuable data have attracted a lot of attention. When the information in non-reachable areas is required, IoT wireless sensor network technologies have to be applied. Se...
Jumping mechanisms constitute an important means of resolution in applications such as crossing uneven terrain and space exploration. However, the traditional design mainly uses engineering design thinking, but seldom studies the structural character...
Mobile robots in industry are commonly used in warehouses and factories. To achieve the highest production rate, requirements for path planning algorithms have caused researchers to pay significant attention to this problem. The artificial potential...
Self-oscillation capable of maintaining periodic motion upon constant stimulus has potential applications in the fields of autonomous robotics, energy-generation devices, mechano-logistic devices, sensors, and so on. Inspired by the active jumping of...
Legged animals can adapt to complex terrains because they can step or jump over obstacles. Their application of foot force is determined according to the estimation of the height of an obstacle; then, the trajectory of the legs is controlled to clear...
of 3