An asymmetric robotic catapult based on the closed elastica for jumping robot

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2008, Pages 232-237

  Yamada, Atsushi ^a   Watari, Masamitsu ^c   Mochiyama, Hiromi ^b   Fujimoto, Hideo ^a  

^a NAGOYA INSTITUTE OF TECHNOLOGY   (Japan)

^b UNIVERSITY OF TSUKUBA   (Japan)

^c NIT ^*

Author keywords

[No Author keywords available]

Indexed keywords

BIOMECHANICS; BIPED LOCOMOTION; INDUSTRIAL ENGINEERING;

ELASTICA; ROTATIONAL JOINTS;

ROBOTICS;

EID: 51649118856     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2008.4543214     Document Type: Conference Paper

References (23)

1. Armour, R., K. Paskins, A. Bowyer, J. Vincent and W. Megill, Jumping robot: a biomimetic solution to locomotion across rough terrain, Bioinspiration & Biomimetics, s65/s82, 2007.
2. A.A.F Nassiraei, M. Murata, K. Ichikawa, K.Ishii, Realization of the Rapid Movements for the Entertainment Robots by Using Two New Actuators " Inertia Actuator " and " Cam Charger " , Proc. ASME IMECE2006, IMECE2006-14257 (6 pages), 2006.
3. Amir A.F. Nassiraei, S. Masakado, T. Matsuo, T. Sonoda, I. Takahira, H. Fukushima, M. Murata, K. Ichikawa, K. Ishii and T. Miki, Development of an Artistic Robot " Jumping Joe " , Proc. of IEEE IROS ' 06, 1720/1725, 2006.
4. Bennet-Clark H. C., E.C.A. Lucey: The jump of the flea: a study of the energetics and a model of the mechanism, J. Exp. Biol., 47, 59/76, 1967.
5. Fish, F.E., A.J. Nicastro and D. Weihs: Dynamics of the aerial maneuvers of spinner dolphins, J. of Experimental Biology 209, 590/598, 2006.
6. Goss, V.G.A., G.H.M. van der Heijden, J.M.T. Thompson and S. Neukirch: Experiments on Snap Buckling, Hysteresis and Loop Formation in Twisted Rods, Experimental Mechanics , 45, 101/111, 2005.
7. de Groot, J.H. and J.L. van Leeuwen: Evidence for an Elastic Projection Mechanism in the Chameleon Tongue, Proc. Royal Society of london, B-271, 761/770, 2004.
8. Kaneko, M., M. Higashimori, R. Takenaka, A. Namiki, and M. Ishikawa: The 100G Capturing Robot -Too Fast to See-, IEEE/ASME Transactions on Mechatoronics, vol.8, no.1, 37/44, 2003.
9. Kikuchi, F., Y. Ota and S. Hirose: Basic Performance Experiments for jumping Quadruped, Proc. of the 2003 IEEE/RSJ Int. Conf. on Inteligent Robots and Systems, 3378/3383, 2003.
10. Mochiyama, H. and T. Suzuki: Kinematics and Dynamics of a Cable-like Hyper-flexible Manipulator, Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 3672/3677, 2003.
11. Mochiyama, H. and H. Fujimoto: Robotic Manipulation of a Hyper-flexible Body, Preprints of the 16th IFAC World Congress, Tu-E19-To/6, 2005.
12. Mochiyama, H. and H. Fujimoto: Damping Manipulation of a Hyper-flexible String-like Robot, Preprints of the IFAC 3rd Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 221/226, 2006.
13. Mochiyama, H. and H. Fujimoto: A Robotic Catapult based on the Closed Elastica and Its Application to Robotic Tasks, Proc. of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007.
14. Muller, U.K. and S. Kranenbarg: Power at the Tip of the Tongue, science, 304, 217/219, 2004.
15. Murray, R.M., Z. Li and S. S. Sastry: A Mathematical Introduction to ROBOTIC MANIPULATION, CRC Press, Inc., 1994.
16. Raibert, M. H.: Legged Robots That Balance, The MIT Press, 1986.
17. Scarfogliero, U., C. Stefanini and P. Dario: Design and Development of the Long-Jumping " Grillo " Mini Robot, Proceeding of the 2007 IEEE International Conference on Robotics and Automation, 467/472, 2007.
18. Sugiyama, Y., A. Shiotsu, M. Yamakita and S. Hirai: Circular/Spherical Robots for Crawling and Jumping, Proc. of the 2005 IEEE Int. Conf. on Robotics and Automation, 3606/3611, 2005.
19. Tanaka, T. and S. Hirose: Development of Wheeled Type Jumping Quadruped, Proc, of the 2006 JSME Conference on Robotics and Mechatronics, 1A1-D28, 2006. (in Japanese)
20. Yamada, A., H. Mochiyama and H. Fujimoto: Kinematics and Statics of Robotic Catapults based on the Closed Elastica, Proc. of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007.
21. Yamada, A., M. Watari, H. Mochiyama and H. Fujimoto: A Jumping Robot based on the Closed Elastica, Proc. of the 2007 International Symposium on Micro-NanoMechatronics and Human Science, 2007.
22. Watari, E., H. Tsukagoshi, T. Tanaka, D. Kimura and A. Kitagawa: Development of a Throw and Collect Type Rescue Inspector, Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007.
23. http://www.sandia.gov/media/NewsRel/NR2000/hoppers.htm