TY - GEN
T1 - Repetitive extreme-acceleration (14-g) spatial jumping with Salto-1P
AU - Haldane, Duncan W.
AU - Yim, Justin K.
AU - Fearing, Ronald S.
N1 - Funding Information:
This material is based upon work supported by the National Science Foundation under IGERT Grant No. DGE-0903711, the NSF GRFP, NSF CMMI 1549667, and the United States Army Research Laboratory under the Micro Autonomous Science and Technology Collaborative Technology Alliance.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/13
Y1 - 2017/12/13
N2 - In this work we present a new robotic system, Salto-1P, for exploring extreme jumping locomotion. Salto-1P weighs 0.098 kg, and has an active leg length of 14.4 cm. The robot is able to perform a standing vertical leap of 1.25 m, continuously hop to heights over 1 m, and jump over 2 m horizontally. Salto-1P uses aerodynamic thrusters and an inertial tail to control its attitude in the air. A linearized Raibert step controller was sufficient to enable unconstrained in-place hopping and forwards-backwards locomotion with external position feedback. We present studies of extreme jumping locomotion in which the robot spends just 7.7% of its time on the ground, experiencing accelerations of 14 times earth gravity in its stance phase. An experimentally collected dataset of 772 observed jumps was used to establish the range of achievable horizontal and vertical impulses for Salto-1P.
AB - In this work we present a new robotic system, Salto-1P, for exploring extreme jumping locomotion. Salto-1P weighs 0.098 kg, and has an active leg length of 14.4 cm. The robot is able to perform a standing vertical leap of 1.25 m, continuously hop to heights over 1 m, and jump over 2 m horizontally. Salto-1P uses aerodynamic thrusters and an inertial tail to control its attitude in the air. A linearized Raibert step controller was sufficient to enable unconstrained in-place hopping and forwards-backwards locomotion with external position feedback. We present studies of extreme jumping locomotion in which the robot spends just 7.7% of its time on the ground, experiencing accelerations of 14 times earth gravity in its stance phase. An experimentally collected dataset of 772 observed jumps was used to establish the range of achievable horizontal and vertical impulses for Salto-1P.
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U2 - 10.1109/IROS.2017.8206172
DO - 10.1109/IROS.2017.8206172
M3 - Conference contribution
AN - SCOPUS:85041964787
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3345
EP - 3351
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Y2 - 24 September 2017 through 28 September 2017
ER -