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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2409.09203 |
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| _version_ | 1866914949271388160 |
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| author | Xu, Christopher Y. Yan, Jack Yim, Justin K. |
| author_facet | Xu, Christopher Y. Yan, Jack Yim, Justin K. |
| contents | Arboreal environments challenge current robots but are deftly traversed by many familiar animal locomotors such as squirrels. We present a small, 450 g robot "Pinto" developed for tree-jumping, a behavior seen in squirrels but rarely in legged robots: jumping from the ground onto a vertical tree trunk. We develop a powerful and lightweight latched series-elastic actuator using a twisted string and carbon fiber springs. We consider the effects of scaling down conventional quadrupeds and experimentally show how storing energy in a parallel-elastic fashion using a latch increases jump energy compared to series-elastic or springless strategies. By switching between series and parallel-elastic modes with our latched 5-bar leg mechanism, Pinto executes energetic jumps as well as maintains continuous control during shorter bounding motions. We also develop sprung 2-DoF arms equipped with spined grippers to grasp tree bark for high-speed perching following a jump. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_09203 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Pinto: A latched spring actuated robot for jumping and perching Xu, Christopher Y. Yan, Jack Yim, Justin K. Robotics Arboreal environments challenge current robots but are deftly traversed by many familiar animal locomotors such as squirrels. We present a small, 450 g robot "Pinto" developed for tree-jumping, a behavior seen in squirrels but rarely in legged robots: jumping from the ground onto a vertical tree trunk. We develop a powerful and lightweight latched series-elastic actuator using a twisted string and carbon fiber springs. We consider the effects of scaling down conventional quadrupeds and experimentally show how storing energy in a parallel-elastic fashion using a latch increases jump energy compared to series-elastic or springless strategies. By switching between series and parallel-elastic modes with our latched 5-bar leg mechanism, Pinto executes energetic jumps as well as maintains continuous control during shorter bounding motions. We also develop sprung 2-DoF arms equipped with spined grippers to grasp tree bark for high-speed perching following a jump. |
| title | Pinto: A latched spring actuated robot for jumping and perching |
| topic | Robotics |
| url | https://arxiv.org/abs/2409.09203 |