Vertical Jumping Motion Control for a Bio-inspired Legged Robot

Bio-inspired robot design for legged locomotion

Mobile robot designers are increasingly searching for inspirations and design cues from biological models. Although animals are great model for mobile robots, the process of implementation is often ambiguous. The direct implementation of biological features and morphology often becomes ineffective and misleads engineers due to various reasons. Firstly, engineers investigate animals to achieve a...

A Shape Memory Alloy-Actuated Bio-inspired Mesoscale Jumping Robot

Jumping may be considered to be quite a useful means of mobile robot locomotion, but acquiring a stable landing has been a difficult problem. This paper reports on the design, analysis, simulation and experiments of a mesoscale jumping robot that is capable of stable landing. A jumping mechanism inspired by jumping insects is introduced and an actuation scheme using only on...

Design and Implementation of a Remote Control System for a Bio-inspired Jumping Robot

This paper presents the design and implementation of a remote control system for a bio‐ inspired jumping robot. The system is composed of a server, a gateway, and a jumping robot. The proposed remote control system is used to monitor the posture of the jumping robot and control it in remote places. A three‐axis accelerometer is used to detect the t...

Bio-inspired Legged Locomotion

Control of a Bio-inspired Four-legged Robot for Exploration of Uneven Terrain

This paper describes the four-legged ARAMIES robot which was built on the experiences gained with a first integration study. It describes the revised mechanics. The new modular electronics low-level control concept is presented and the developed FPGA-based joint control is explained in detail. Furthermore an overview on the software control approach is given and the new ground contact detection...