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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Jun Zhang Kai Ding Ying Zhang Xi Yang Guangming Song |
| Copyright Year | 2014 |
| Description | Author affiliation: Sch. of Instrum. Sci. & Eng., Southeast Univ., Nanjing, China (Jun Zhang; Kai Ding; Ying Zhang; Xi Yang; Guangming Song) |
| Abstract | This paper presents the modeling and simulation of a jumping robot with passive self-righting and steering capabilities. Inspired by clams, two conical shells are mounted on the upper and lower sides of the robot's body symmetrically to prevent the robot from damage during landing. The jumping mechanism of the robot is also designed symmetrically up and down. Therefore, the robot can self-right passively and take off when either its upper shell or lower shell contacts with the ground after landing. A wheel in the body of the robot can be used to steer before takeoff when the springs of the jumping mechanism are compressed. The simplified vertical jumping is modeled and simulated. The 3D model of the robot is designed. The kinematic and dynamic simulations of the jumping and steering are conducted by using ADAMS. The simulation results verify the feasibility of the design concepts of the jumping robot. |
| Starting Page | 1353 |
| Ending Page | 1358 |
| File Size | 2033008 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781479939787 |
| e-ISBN | 9781479939794 |
| DOI | 10.1109/ICMA.2014.6885896 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2014-08-03 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Springs Solid modeling Simulation Legged locomotion Wheels Two mass model Jumping robot Passive self-righting Steering Bio-inspired robot Damage avoiding |
| Content Type | Text |
| Resource Type | Article |
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