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Terrain Adaptability and Stable Landing of the Insect-scale Jumping Robot with Bio-inspired Passive Mechanism

  • 김백겸 (아주대학교 일반대학원)

초록/요약

Jumping is an effective locomotion strategy for small-scale robots, particularly in navigating environments with large obstacles that are difficult to traverse through walking or crawling. However, achieving reliable jumping at the insect scale remains challenging due to uncertainties and complexities in natural environments, including irregular terrain, unstable landings, and limited mid-air controllability. This study introduces two bio-inspired passive mechanisms to address these issues. A compliant jumping appendage inspired by springtails passively compensates for energy losses during takeoff, significantly reducing body rotation by up to 90% compared to rigid counterparts, thereby enabling consistent performance across rough and compliant surfaces. Additionally, an aerodynamic righting mechanism composed of lightweight drag flaps and added mass passively stabilizes mid-air orientation, achieving a 70% reduction in angular velocity and allowing reliable ventral-side landings. Experiments conducted on physically quantified substrates and natural terrains—including gravel, leaves, and pine needles—demonstrate that these passive mechanisms enable stable jumping behaviors without complex active control systems or additional actuators. These results are expected to serve as a viable option for operating small-scale robots in unpredictable and challenging real-world conditions

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목차

1. Introduction 1
1.1. Motivation 1
1.1.1. Small-scale robot (Robotic insect) 1
1.1.2. Potential applications of robotic insects 2
1.1.3. Small-scale terrestrial robots 2
1.1.4. Jumping locomotion for small-scale robots 3
1.2. Challenges in small-scale robotic jumpers 8
1.2.1. Locomotion scenario in natural environments 8
1.2.2. Terrain adaptability on natural terrain with uncertainties 9
1.2.3. Aerial stabilization and stable landing 11
1.3. Objective and contribution 12
1.3.1. Research objectives 12
1.3.2. Contributions 13
2. Torque reversal catapult (TRC) mechanism-based jumping robot platform 15
2.1. Torque reversal catapult (TRC) mechanism 15
2.1.1. Objective 15
2.1.2. Conceptual jumping mechanism 16
2.2. Design process 18
2.2.1. Kinematic and static analysis 18
2.2.2. Dynamic analysis 21
2.3. Fabrication process. 24
2.3.1. Fabrication of the robot body and actuator 24
2.3.2. Jumping appendage 25
2.3.3. Drag flaps and added mass 26
3. Compliant jumping appendage for directional takeoff, orientational stabilization, and terrain adaptability 27
3.1. Robophysical experiments 27
3.1.1. Motivation from springtail: furca morphology 27
3.1.2. Selection of hinge parameters through simulation and experiments 29
3.1.3. Experimental setup 30
3.1.4. Analysis of robot's jumping procedure and performances 30
3.1.5. Robophysical Experiment by three morphotypes 34
3.2. Stable jumping on rough terrains 39
3.2.1. Experimental setup 39
3.2.2. Jumping experiment on physically quantified rough substrates 39
3.2.3. Jumping experiment on natural rough substrate: gravel 44
3.3. Stable jumping on compliant substrates 45
3.3.1. Experimental setup 45
3.3.2. Jumping experiment on physically quantified compliant substrates 46
3.3.3. Jumping experiment on natural compliant substrate: leaf and pine needles 52
3.4. Discussion 53
4. Aerodynamic righting and landing through drag flaps and added mass 54
4.1. Motivation 54
4.2. Passive aerial righting mechanism. 55
4.3. Experimental Evaluation 59
4.3.1. Experimental cases and setup 59
4.3.2. Experimental results 60
4.4. Discussion 62
5. Concluding remarks 64
References 65

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