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Bai S, Pan Q, Ding R, Jia H, Yang Z, Chirarattananon P. An agile monopedal hopping quadcopter with synergistic hybrid locomotion. Sci Robot 2024; 9:eadi8912. [PMID: 38598611 DOI: 10.1126/scirobotics.adi8912] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/25/2023] [Accepted: 03/14/2024] [Indexed: 04/12/2024]
Abstract
Nature abounds with examples of superior mobility through the fusion of aerial and ground movement. Drawing inspiration from such multimodal locomotion, we introduce a high-performance hybrid hopping and flying robot. The proposed robot seamlessly integrates a nano quadcopter with a passive telescopic leg, overcoming limitations of previous jumping mechanisms that rely on stance phase leg actuation. Based on the identified dynamics, a thrust-based control method and detachable active aerodynamic surfaces were devised for the robot to perform continuous jumps with and without position feedback. This unique design and actuation strategy enable tuning of jump height and reduced stance phase duration, leading to agile hopping locomotion. The robot recorded an average vertical hopping speed of 2.38 meters per second at a jump height of 1.63 meters. By harnessing multimodal locomotion, the robot is capable of intermittent midflight jumps that result in substantial instantaneous accelerations and rapid changes in flight direction, offering enhanced agility and versatility in complex environments. The passive leg design holds potential for direct integration with conventional rotorcraft, unlocking seamless hybrid hopping and flying locomotion.
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Affiliation(s)
- Songnan Bai
- Department of Biomedical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
| | - Qiqi Pan
- Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong SAR, China
- Department of Mechanical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
| | - Runze Ding
- Department of Biomedical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
| | - Huaiyuan Jia
- Department of Biomedical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
| | - Zhengbao Yang
- Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong SAR, China
- Department of Mechanical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
| | - Pakpong Chirarattananon
- Department of Biomedical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
- Department of Mechanical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
- Centre for Nature-inspired Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
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Jumping Locomotion Strategies: From Animals to Bioinspired Robots. APPLIED SCIENCES-BASEL 2020. [DOI: 10.3390/app10238607] [Citation(s) in RCA: 15] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/10/2023]
Abstract
Jumping is a locomotion strategy widely evolved in both invertebrates and vertebrates. In addition to terrestrial animals, several aquatic animals are also able to jump in their specific environments. In this paper, the state of the art of jumping robots has been systematically analyzed, based on their biological model, including invertebrates (e.g., jumping spiders, locusts, fleas, crickets, cockroaches, froghoppers and leafhoppers), vertebrates (e.g., frogs, galagoes, kangaroos, humans, dogs), as well as aquatic animals (e.g., both invertebrates and vertebrates, such as crabs, water-striders, and dolphins). The strategies adopted by animals and robots to control the jump (e.g., take-off angle, take-off direction, take-off velocity and take-off stability), aerial righting, land buffering, and resetting are concluded and compared. Based on this, the developmental trends of bioinspired jumping robots are predicted.
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