Desbiens Alexis Lussier, Pope Morgan T, Christensen David L, Hawkes Elliot W, Cutkosky Mark R
Department of Mechanical Engineering, Université de Sherbrooke, Sherbrooke, QC J1K 2R1, Canada.
Bioinspir Biomim. 2014 Jun;9(2):025009. doi: 10.1088/1748-3182/9/2/025009. Epub 2014 May 22.
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.
结合跳跃和滑翔的运动方式，即“跳跃滑翔”，对于小型机器人或动物在杂乱地形上移动来说可能是一种高效的方式。本文提出了一种简单跳跃滑翔机的功能要求和模型，这些要求和模型将利用气动表面增强跳跃能力的优点和局限性进行了形式化。对该模型的分析有助于深入了解高性能设计选择和控制策略，以及适应特殊条件，如光滑的发射表面。该模型为一个能够使用碳纤维弹簧和可旋转机翼进行重复跳跃的机器人平台的设计提供了参考。对该平台两个不同版本的实验结果与模型预测相符，并且证明与类似的弹道式跳跃器相比，其具有显著更大的移动范围和更低的运输成本。
