Biologically inspired jumping robots: A comprehensive review | |
Zhang, Chi1,2; Zou, Wei1,2; Ma, Liping1; Wang, Zhiqing1,2 | |
刊名 | ROBOTICS AND AUTONOMOUS SYSTEMS |
2020-02-01 | |
卷号 | 124期号:0页码:19 |
关键词 | Jumping robots Bionics Autonomous robots Mechanical structure Actuator and energy storage Material Control and stability |
ISSN号 | 0921-8890 |
DOI | 10.1016/j.robot.2019.103362 |
英文摘要 | Applying concepts and methods of bionics to endow autonomous robots with elegant and agile mobility just like natural living beings is gradually becoming a hot research topic in intelligent robot field. Compared with walking, crawling, rolling and other motion modes, jumping performs considerable advantages that can leap across obstacles and move to different heights in agility and flexibility. In this paper, we specifically review the developments of biologically inspired jumping robots in the past decades, and give comprehensive analysis on some key technologies for implementing a practical jumping robot effectively. First, the jumping mechanism of frog (amphibian, quadruped), locust (arthropod, hexapod), kangaroo (mammality, bipedalism) as examples of typical animals good at jumping is introduced and analyzed, from which it is concluded that power sources, limbs coordination and control are key elements for excellent jumping performances, which should be synthetically improved by combination with structure design and model establishment. Then, spring loaded inverted pendulum (SLIP), bio-inspired open-chain and closed-chain multi-linkage as representative jumping mechanical structures, their characteristics are explored accompanied with dynamic analysis. After a detailed analysis to actuators and energy storage devices and a comprehensive summarization to functional and soft materials commonly applied in jumping robots, different control methods and strategies adopted to achieve better jumping performance are reviewed and analyzed, from self-righting, driving control to path planning. Especially, how to analyze the stability of a jumping control system and how to stabilize it are explained theoretically by taking a vertical monopedal jumping robot as an example and via limit cycle analysis. Finally, some feasible and potential future developments in bio-inspired jumping robots are also presented after detailed discussions on current status and existing deficiencies. (C) 2019 Elsevier B.V. All rights reserved. |
资助项目 | National Natural Science Foundation of China[61773374] ; National Key Research and Development Program of China[2017YFB1300104] |
WOS关键词 | HOPPING ROBOT ; TRAJECTORY CONTROL ; DESIGN ; MECHANISM ; FROG ; SYSTEM ; LOCOMOTION ; KINEMATICS ; STABILITY ; DYNAMICS |
WOS研究方向 | Automation & Control Systems ; Computer Science ; Robotics |
语种 | 英语 |
出版者 | ELSEVIER |
WOS记录号 | WOS:000513294200005 |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/28622] |
专题 | 精密感知与控制研究中心_精密感知与控制 |
通讯作者 | Zou, Wei |
作者单位 | 1.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Zhongguancun East Rd 95, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing, Peoples R China |
推荐引用方式 GB/T 7714 | Zhang, Chi,Zou, Wei,Ma, Liping,et al. Biologically inspired jumping robots: A comprehensive review[J]. ROBOTICS AND AUTONOMOUS SYSTEMS,2020,124(0):19. |
APA | Zhang, Chi,Zou, Wei,Ma, Liping,&Wang, Zhiqing.(2020).Biologically inspired jumping robots: A comprehensive review.ROBOTICS AND AUTONOMOUS SYSTEMS,124(0),19. |
MLA | Zhang, Chi,et al."Biologically inspired jumping robots: A comprehensive review".ROBOTICS AND AUTONOMOUS SYSTEMS 124.0(2020):19. |
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