Compound Foot for Increased Millirobot Jumping Ability
نویسندگان
چکیده
Bio-inspired compound feet with spines and foot pads were made to improve the take off performance of the Flea, a jumping robot that can jump 30 times its body length. A no-slip model of the flea was used to compare the performance of the flea with and without spines and foot pads on styrofoam, sandpaper 60Cw, and Teflon. On styrofoam, the flea with spines increased its kinetic energy by 65%, bringing the kinetic energy closer to the no-slip model (6.6mJ). On sandpaper the spines did not alter the Flea’s performance significantly, and on Teflon the flea could not jump at all. Combining a foot pad with spines increased kinetic energy on Teflon from 0 to 7.8mJ. Therefore the compound foot increases the variety of surfaces that yield good jumping performance for the robot Flea.
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