NDLI: A bioinspired concept for high efficiency locomotion in micro robots: the jumping Robot Grillo

Content Provider	IEEE Xplore Digital Library
Author	Scarfogliero, U. Stefanini, C. Dario, P.
Copyright Year	2006
Description	Author affiliation: BioRobotics Eng. Sch., IMT Lucca Inst. for Adv. Studies (Scarfogliero, U.)
Abstract	This paper presents a bioinspired concept of locomotion for small autonomous robots. Scale effects in locomotion highly influence gait efficiency and in lightweight micro-robots jumping can be more energetically efficient than just walking or climbing. In addition, a jump can make the robot overcome obstacles and uneven terrains. Inspired by nature, the actuation of the proposed robot is entrusted to loaded springs. During the flight phase, energy from an electric micro-motor is collected in springs, while it is released by a click mechanism during take-off. In this way instant power delivered by rear legs (about 5 W) is much higher than the one provided by the motor (0.3 W). Passive compliant legs and low-power actuation result in light, efficient micro-robot, designed to have long autonomy for environment exploration and monitoring. In order to verify these assumptions, a quadruped prototype was developed, with two active rear limbs and passive elastic forelegs. Robot Grillo is 50 mm long and weighs about 10 grams. In conservative simulations the microrobot reaches a forward speed of 1.5 m/s, which corresponds to about 30 body length $s^{-1}$
Sponsorship	IEEE Robotics and Autom. Soc
Starting Page	4037
Ending Page	4042
File Size	900386
Page Count	6
File Format	PDF
ISBN	0780395050
ISSN	10504729
DOI	10.1109/ROBOT.2006.1642322
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-05-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Leg Legged locomotion Animals Micromotors Monitoring Prototypes Wheels Mobile robots Springs Laboratories
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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