An Omnidirectional Jumper with Expanded Movability via Steering, Self-Righting and Take-off Angle Adjustment

摘要

In this paper, we propose an omnidirectional jumper with expanded locomotion capabilities. The mechanisms for four functions-jumping, steering, self-righting and take-off angle adjustment-are designed using only two motors to maximize the jumping performance. Jumping uses the modified active triggering mechanism with one motor. Steering shares this motor and uses the wheel touching the ground. The take-off angle is adjusted by changing the angle between the body and the foot using another motor. Self-righting is possible by utilizing combinations of the movements that occur in the energy storing and angle adjustment processes. With these four functions, the robot is capable of jumping in all directions and can jump anywhere in between the maximum height and maximum distance. It can also jump multiple times by self-righting. The robot, with a mass of 64.4 g, jumps up to 113 cm in vertical height, and 170 cm in horizontal distance. This robot can be deployed to explore various environments. Moreover, the design method to implement more functions than the number of motors can be applied to design other small-scale robots.