A Milli-Scale Jumping Trajectory Adjustable Mechanism and Its Application to Jumping-Crawling Robot

Abstract

Recently, researchers have been concerned on integrated locomotion modes over a single locomotion, which is called multi-modal locomotion. This multi-modal locomotion in milli-scale robots have been developed in a way that reduces cost of transport (CoT) or expands movable domain. In this paper, we propose a trajectory-adjustable integrated jumping-crawling robot to increase obstacle overcoming ability of the crawler. To this end, a novel jumping module is developed in two directions: large energy storing capacity and height-adjustable active trigger. To increase energy storing capacity, combination of a linear type and torsional type energy storages have been employed. This combined energy storage enables the jumping module to store the elastic energy as much as possible with limited loading force. Also, knee-like rolling joints are applied to utilize large displacement of the elastic material. To release the stored energy at any state, an active trigger based on a single DC motor is newly proposed, which enables the robot to control take-off speed of jumping. The developed jumping module is integrated with a lightweight crawler, Dash. The integrated jumping-crawling robot weighs 59.4 g and controls moving trajectory by adjusting crawling and take-off speed.