방향 전환, 도약 각도 조절, 자세 교정이 가능한 점핑 로봇

학위논문 (석사)-- 서울대학교 대학원 : 공과대학 기계항공공학부, 2019. 2. 조규진.도약 로봇은 로봇 자신의 크기보다 큰 장애물을 넘어 이동할 수 있다. 도약 운동만으로 원하는 위치에 도달하기 위해 도달 가능한 범위를 넓힐 수 있는 방향 전환, 도약 각도 조절, 자세 교정 기능이 통합된 점핑 로봇들이 개발됐다. 이 때 추가 기능을 통합하면 로봇의 질량이 증가하고 도약 성능이 감소하므로 질량을 줄이기 위한 설계가 필요하다. 본 논문에서는 방향 전환, 도약 각도 조절, 자세 교정이 가능한 도약 로봇을 제안하며, 도약 성능 감소를 최소화하기 위해 메커니즘과 구동기를 공유할 수 있도록 로봇이 설계되었다. 로봇의 질량은 70.1 g으로 최대 높이 1.02 m, 최대 거리 1.28 m를 도약할 수 있다. 또한, 전 방향으로 도약할 수 있으며, 반복 도약으로 더 먼 곳에 도달할 수 있다. 로봇의 거동을 예측할 수 있는 동역학 모델을 세웠으며, 미끄러짐이 없이 도약하는 경우뿐만 아니라 미끄러짐이 포함된 도약에 대해서도 로봇의 거동을 확인하고 도약 궤적을 계획할 수 있다. 구동기의 수보다 많은 기능의 수를 구현하는 설계 방법은 다른 소형 로봇의 설계에 적용할 수 있을 것이다. 이 로봇은 비정형 환경에서 수색, 정찰 혹은 탐사와 같은 임무를 수행하는 데 활용 가능할 것이다.Jumping enables the robot to overcome obstacles that are larger than its own size. In order to reach the desired location with only jumping, the jumping robots integrated with additional functions –steering, adjusting the take-off angle, and self-righting – have been developed to expand the reachable range of the robot. Design to reduce mass is required as the integration of additional functions increases the mass of the robot and reduces the jumping performance. In this thesis, a jumping robot capable of steering, adjusting the take-off angle, and self-righting is proposed with the design of actuator and mechanism sharing to minimize the jumping performance degradation. The robot, with a mass of 70.1 g jumps up to 1.02 m in vertical height, and 1.28 m in horizontal distance. It can change the jumping height and distance by adjusting the take-off angle from 40° to 91.9°. The robot can jump in all directions, and it can reach farther through multiple jumps. A dynamic model is established to predict the behavior of the robot and plan the jumping trajectory not only for jumping without slip but also for jumping with slip. The design method to implement more functions than the number of actuators can be applied to design other small-scale robots. This robot can be deployed to unstructured environments to perform tasks such as search and rescue, reconnaissance, and exploration.Abstract ⅰ Contents ⅲ List of Tables ⅴ List of Figures ⅵ Chapter 1. Introduction 1 1.1. Motivation 1 1.2. Research Objectives and Contributions 3 1.3. Research Overview 6 Chapter 2. Design 7 2.1. Jumping 8 2.2. Steering 10 2.3. Take-off Angle Adjustment 12 2.4. Self-Righting 13 2.5. Integration 16 Chapter 3. Analysis 19 3.1. Dynamic Modeling 19 3.2. Simulated Results 24 3.3. Jumping Trajectory Planning 33 Chapter 4. Result 35 4.1. Performance 35 4.2. Demonstration 40 Chapter 5. Conclusion 46 Bibliography 49 국문 초록 53Maste

Towards a self-deploying and gliding robot

Strategies for hybrid locomotion such as jumping and gliding are used in nature by many different animals for traveling over rough terrain. This combination of locomotion modes also allows small robots to overcome relatively large obstacles at a minimal energetic cost compared to wheeled or flying robots. In this chapter we describe the development of a novel palm sized robot of 10\,g that is able to autonomously deploy itself from ground or walls, open its wings, recover in midair and subsequently perform goal- directed gliding. In particular, we focus on the subsystems that will in the future be integrated such as a 1.5\,g microglider that can perform phototaxis; a 4.5\,g, bat-inspired, wing folding mechanism that can unfold in only 50\,ms; and a locust-inspired, 7\,g robot that can jump more than 27 times its own height. We also review the relevance of jumping and gliding for living and robotic systems and we highlight future directions for the realization of a fully integrated robot

Bioinspired Jumping Locomotion for Miniature Robotics

In nature, many small animals use jumping locomotion to move in rough terrain. Compared to other modes of ground locomotion, jumping allows an animal to overcome obstacles that are relatively large compared to its size. In this thesis we outline the main design challenges that need to be addressed when building miniature jumping robots. We then present three novel robotic jumpers that solve those challenges and outperform existing similar jumping robots by one order of magnitude with regard to jumping height per size and weight. The robots presented in this thesis, called EPFL jumper v1, EPFL jumper v2 and EPFL jumper v3 have a weight between 7g and 14.3g and are able to jump up to 27 times their own size, with onboard energy and control. This high jumping performance is achieved by using the same mechanical design principles as found in jumping insects such as locusts or fleas. Further, we present a theoretical model which allows an evaluation whether the addition of wings could potentially allow a jumping robot to prolong its jumps. The results from the model and the experiments with a winged jumping robot indicate that for miniature robots, adding wings is not worthwhile when moving on ground. However, when jumping from an elevated starting position, adding wings can lead to longer distances traveled compared to jumping without wings. Moreover, it can reduce the kinetic energy on impact which needs to be absorbed by the robot structure. Based on this conclusion, we developed the EPFL jumpglider, the first miniature jumping and gliding robot that has been presented so far. It has a mass of 16.5g and is able to jump from elevated positions, perform steered gliding flight, land safely and locomote on ground with repetitive jumps1. ______________________________ 1See the collection of the accompanying videos at http://lis.epfl.ch/microglider/moviesAll.zi

Observing and modelling the legless jumping mechanism of click beetles for bio-inspired robotic design

Click beetles (Coleoptera: Elateridae) have evolved a unique jumping mechanism to right themselves when on their dorsal side without using their legs or any other appendages. This work describes and analyzes the stages of the click beetle jump using high-speed video recordings and scanning electron micrographs of six beetle species, namely Alaus oculatus, Ampedus linteus, Hemicrepidius sp., Melanactes sp., Melanotus spp. and Parallelosthetus attenuatus. The jump of the click beetle is divided into three consecutive stages: the pre-jump stage (energy storage), and the take-off and airborne stages (energy release). Morphological measurements of the previously mentioned species as well as three additional species, namely Agriotes sp., Athous sp. and Lacon discoideus are taken, and isometric scaling across the species is observed. The body of the click beetle is considered as two masses linked by a hinge. Dynamic and kinematic models of the jump stages are developed. Non-dimensional analysis of the airborne stage is used to analyze the jump and identify the contribution of kinematic and morphological governing parameters. An energetics model is developed to describe the energy exchanges between the three stages of the jump. Kinematic and dynamic models are used to calculate the hinge stiffness and the elastic energy stored in the body during the jump. The derived models provide a framework that will be used for the design of a click beetle inspired self-righting robot

Swarm Intelligent in Bio-Inspired Perspective: A Summary

This paper summarizes the research performed in the field of swarm intelligent in recent years. The classification of swarm intelligence based on behavior is introduced.  The principles of each behaviors, i.e. foraging, aggregating, gathering, preying, echolocation, growth, mating, clustering, climbing, brooding, herding, and jumping are described. 3 algorithms commonly used in swarm intelligent are discussed.  At the end of summary, the applications of the SI algorithms are presented

Design and Development of a Salticid Inspired Jumping Robot

The ability to jump allows small robots to traverse rough terrain, clear large obstacles, and quickly reach elevated locations. These abilities have applications in a variety of areas such as, search and rescue, environmental monitoring, and urban warfare. The primary focus in current state-of-the-art jumping robots has been on jumping as high or far as possible, with little focus on how to change the prelaunch dynamics to accomplish different trajectories. This lack of variety limits the utility of jumping robots by reducing their effective workspace. To solve this problem, we explored the jumping behavior of the Salticid family of jumping spiders. Salticid spiders are able to change their leg geometry and use their front legs to channel jump energy into a vaulting motion. Vaulting allows the spider to achieve alter trajectories than are possible by extension of the rear legs alone. We mapped the spiders jumping mechanism onto a four-bar linkage to develop a model for the spiders jumping mechanics.This model is then used to develop a robot that is able to effectively mimic the spider's jumping behavior

Aquatic escape for micro-aerial vehicles

As our world is experiencing climate changes, we are in need of better monitoring technologies. Most of our planet is covered with water and robots will need to move in aquatic environments. A mobile robotic platform that possesses efficient locomotion and is capable of operating in diverse scenarios would give us an advantage in data collection that can validate climate models, emergency relief and experimental biological research. This field of application is the driving vector of this robotics research which aims to understand, produce and demonstrate solutions of aerial-aquatic autonomous vehicles. However, small robots face major challenges in operating both in water and in air, as well as transition between those fluids, mainly due to the difference of density of the media. This thesis presents the developments of new aquatic locomotion strategies at small scales that further enlarge the operational domain of conventional platforms. This comprises flight, shallow water locomotion and the transition in-between. Their operating principles, manufacturing methods and control methods are discussed and evaluated in detail. I present multiple unique aerial-aquatic robots with various water escape mechanisms, spanning over different scales. The five robotic platforms showcased share similarities that are compared. The take-off methods are analysed carefully and the underlying physics principles put into light. While all presented research fulfils a similar locomotion objective - i.e aerial and aquatic motion - their relevance depends on the environmental conditions and supposed mission. As such, the performance of each vehicle is discussed and characterised in real, relevant conditions. A novel water-reactive fuel thruster is developed for impulsive take-off, allowing consecutive and multiple jump-gliding from the water surface in rough conditions. At a smaller scale, the escape of a milligram robotic bee is achieved. In addition, a new robot class is demonstrated, that employs the same wings for flying as for passive surface sailing. This unique capability allows the flexibility of flight to be combined with long-duration surface missions, enabling autonomous prolonged aquatic monitoring.Open Acces

Swarm Intelligent in Bio-Inspired Perspective: A Summary

This paper summarizes the research performed in the field of swarm intelligent in recent years. The classification of swarm intelligence based on behavior is introduced. The principles of each behaviors, i.e. foraging, aggregating, gathering, preying, echolocation, growth, mating, clustering, climbing, brooding, herding, and jumping are described. 3 algorithms commonly used in swarm intelligent are discussed. At the end of summary, the applications of the SI algorithms are presented

Bio-Inspired Robotics

Modern robotic technologies have enabled robots to operate in a variety of unstructured and dynamically-changing environments, in addition to traditional structured environments. Robots have, thus, become an important element in our everyday lives. One key approach to develop such intelligent and autonomous robots is to draw inspiration from biological systems. Biological structure, mechanisms, and underlying principles have the potential to provide new ideas to support the improvement of conventional robotic designs and control. Such biological principles usually originate from animal or even plant models, for robots, which can sense, think, walk, swim, crawl, jump or even fly. Thus, it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. Bio-inspired robotics is leading to the study of innovative structures and computing with sensory–motor coordination and learning to achieve intelligence, flexibility, stability, and adaptation for emergent robotic applications, such as manipulation, learning, and control. This Special Issue invites original papers of innovative ideas and concepts, new discoveries and improvements, and novel applications and business models relevant to the selected topics of ``Bio-Inspired Robotics''. Bio-Inspired Robotics is a broad topic and an ongoing expanding field. This Special Issue collates 30 papers that address some of the important challenges and opportunities in this broad and expanding field

Artificial intelligence in the design process

The book discusses how to include artificial intelligence (AI) systems in the early stages of the design process. Today designers need new tools capable of supporting them in dealing with the increasing project’s complexity and empowering their performances and capabilities. AI systems appear to be powerful means to enhance designers’ creativity. This assumption was tested in a workshop where sixteen participants collaborated with three AI systems throughout the creative phases of research, sketching, and color selection. Results show that designers can access a broader level of variance and inspiration while reducing the risk of fossilization by triggering lateral thinking through AI-generated data. Therefore, AI could significantly impact the creative phases of the design process if applied consciously. Being AI systems intelligent agents, the book treats the Human-AI collaboration as a collaboration between human agents, proposing a set of guidelines helpful to achieving an efficient partnership with the machine