Design principles for efficient, repeated jumpgliding

Bioinspir Biomim. 2014 Jun;9(2):025009. doi: 10.1088/1748-3182/9/2/025009. Epub 2014 May 22.

Abstract

Combined jumping and gliding locomotion, or 'jumpgliding', can be an efficient way for small robots or animals to travel over cluttered terrain. This paper presents functional requirements and models for a simple jumpglider which formalize the benefits and limitations of using aerodynamic surfaces to augment jumping ability. Analysis of the model gives insight into design choices and control strategies for higher performance and to accommodate special conditions such as a slippery launching surface. The model informs the design of a robotic platform that can perform repeated jumps using a carbon fiber spring and a pivoting wing. Experiments with two different versions of the platform agree with predictions from the model and demonstrate a significantly greater range, and lower cost-of-transport, than a comparable ballistic jumper.

Publication types

  • Research Support, U.S. Gov't, Non-P.H.S.

MeSH terms

  • Aircraft / instrumentation*
  • Animals
  • Biomimetics / instrumentation*
  • Biomimetics / methods
  • Computer Simulation
  • Computer-Aided Design
  • Energy Transfer / physiology
  • Equipment Design
  • Equipment Failure Analysis
  • Feedback, Physiological / physiology
  • Flight, Animal / physiology*
  • Models, Biological*
  • Robotics / instrumentation*
  • Wings, Animal / physiology*