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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Je-Sung Koh Sun-Pill Jung Noh, M. Seung-Won Kim Kyu-Jin Cho |
| Copyright Year | 2013 |
| Description | Author affiliation: Dept. Mech. Eng., Massachusetts Inst. of Technol., Cambridge, MA, USA (Noh, M.) || Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea (Je-Sung Koh; Sun-Pill Jung; Seung-Won Kim) || Sch. of Mech. & Aerosp. Eng./IAMD, Seoul Nat. Univ., Seoul, South Korea (Kyu-Jin Cho) |
| Abstract | Fleas have a unique catapult mechanism with a special muscle configuration. Energy is stored in an elastic material, resilin, and the extensor muscle. Force is applied by the extensor muscle to generate a torque. Energy is released as a small triggering muscle reverses the direction of the aforementioned torque. A flea can jump 150 times its body length using this elastic catapult mechanism. In this paper, a flea-inspired catapult mechanism is presented. This mechanism can be categorized as an active storage and active release elastic catapult. Owing to its unique stiffness change characteristic, a shape-memory-alloy coil spring actuator enables the mimicking of the flea's catapult mechanism. Two types of flea-inspired jumping mechanisms were developed for verifying the feasibility of applying the concept to an efficient jumping robot. The first prototype has a flea-like appearance and the second is simplified to contain just the essential components of the flea-inspired catapult mechanism. The two prototypes are 20-mm- and 30-mm-long and can jump 64 cm and 120 cm, respectively. This unique catapult mechanism can be used not only for jumping robots but also for other small-sized robots to generate fast-releasing motion. |
| Starting Page | 26 |
| Ending Page | 31 |
| File Size | 866110 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781467356411 |
| ISSN | 10504729 |
| e-ISBN | 9781467356435 |
| DOI | 10.1109/ICRA.2013.6630552 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2013-05-06 |
| Publisher Place | Germany |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robots Springs Muscles Coils Actuators Prototypes Force |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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