The EPFL jumpglider: A hybrid jumping and gliding robot with rigid or folding wings

Recent work suggests that wings can be used to prolong the jumps of miniature jumping robots. However, no functional miniature jumping robot has been presented so far that can successfully apply this hybrid locomotion principle. In this publication, we present the development and characterization of the ’EPFL jumpglider’, a miniature robot that can prolong its jumps using steered hybrid jumping and gliding locomotion over varied terrain. For example, it can safely descend from elevated positions such as stairs and buildings and propagate on ground with small jumps. The publication presents a systematic evaluation of three biologically inspired wing folding mechanisms and a rigid wing design. Based on this evaluation, two wing designs are implemented and compared

Aerial Locomotion in Cluttered Environments

Many environments where robots are expected to operate are cluttered with objects, walls, debris, and different horizontal and vertical structures. In this chapter, we present four design features that allow small robots to rapidly and safely move in 3 dimensions through cluttered environments: a perceptual system capable of detecting obstacles in the robot’s surroundings, including the ground, with minimal computation, mass, and energy requirements; a flexible and protective framework capable of withstanding collisions and even using collisions to learn about the properties of the surroundings when light is not available; a mechanism for temporarily perching to vertical structures in order to monitor the environment or communicate with other robots before taking off again; and a self-deployment mechanism for getting in the air and perform repetitive jumps or glided flight. We conclude the chapter by suggesting future avenues for integration of multiple features within the same robotic platform