Jumping Mini-Robot as a Model of Scale Effects on Legged Locomotion

摘要

This paper presents a bio-inspired concept for an autonomous centimeter-scale robot for locomotion on un-even terrains. First, we discuss why legged locomotion can be more effective because of its high efficiency, low energy consumption and environmentally friendly operation. The choice of the optimal gait for the mini-robot is discussed according to its size. A small legged robot with some jumping mechanism can be efficient on compliant terrains, and this additional jumping function allows the robot to overcome obstacles several times higher than itself in a rough terrain. After that, a jumping robot named Grillo, our first prototype, is introduced. We also describe the electronic part of this robot, mainly focusing on control techniques exploited in the airborne phase.