TY - JOUR
T1 - A Programmable Substrate to Study Robots Jumping From Non-Rigid Surfaces
AU - Divi, Sathvik
AU - Yim, Justin
AU - Bedillion, Mark
AU - Bergbreiter, Sarah
N1 - This paper was recommended for publication by Editor Xinyu Liu upon evaluation of the Associate Editor and Reviewers\u2019 comments. This work was supported in part by the U.S. Army Research Office under contract/grant number W911NF-15-1-0358 and in part by the National Science Foundation under Grant CCF-2030859 to the Computing Research Association for the CIFellows Project. We greatly appreciate members of our Impulsive MURI team for thoughtful discussion regarding the work expressed in this paper.
PY - 2024
Y1 - 2024
N2 - This study presents the development, characterization, and demonstration of a tunable substrate for small jumping robots. Jumping robots in the literature are typically evaluated when jumping from rigid surfaces, in contrast to surfaces with more significant compliance or damping that are encountered in the natural world. The aim of this work is to create a physical substrate, or 'ground', for which the effective mass, compliance, and damping can be programmed. This system enables quick testing of various substrate conditions and also allows for the introduction of complex nonlinearities to analyze the interactions between latch-mediated spring actuation (LaMSA) systems and their environment. A mathematical model for the substrate is defined and the system is built with a fast brushless DC motor and controller running on a real-time target machine. The results illustrate the range of compliance and damping that can be achieved, as well as example jumps from the substrate using a 4 g jumper and a 108 g jumping robot.
AB - This study presents the development, characterization, and demonstration of a tunable substrate for small jumping robots. Jumping robots in the literature are typically evaluated when jumping from rigid surfaces, in contrast to surfaces with more significant compliance or damping that are encountered in the natural world. The aim of this work is to create a physical substrate, or 'ground', for which the effective mass, compliance, and damping can be programmed. This system enables quick testing of various substrate conditions and also allows for the introduction of complex nonlinearities to analyze the interactions between latch-mediated spring actuation (LaMSA) systems and their environment. A mathematical model for the substrate is defined and the system is built with a fast brushless DC motor and controller running on a real-time target machine. The results illustrate the range of compliance and damping that can be achieved, as well as example jumps from the substrate using a 4 g jumper and a 108 g jumping robot.
KW - Biologically-inspired robots
KW - biomimetics
KW - compliance and impedance control
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U2 - 10.1109/LRA.2024.3469825
DO - 10.1109/LRA.2024.3469825
M3 - Article
AN - SCOPUS:85205281764
SN - 2377-3766
VL - 9
SP - 10209
EP - 10215
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 11
ER -