Jumping robot uses long leg and direct-drive motor to reach high altitudes
A Long-Legged, Direct-Drive Monopedal Robot Achieves Exceptional Jump Height
Robotics
Summary
Jumping high using simple electric motors is tricky without springs to store energy. This paper shows a robot with one long leg that jumps very high and quickly using a new motor and fabric design. The robot keeps its motor working efficiently and prevents its leg from bending too much. Tiny propellers help the robot balance on the ground and in the air. The authors tested it outdoors, showing it can jump straight up and at angles while staying stable.
What this means in practice
- •For robotics engineers: Build robots that jump high and fast without complex springs using direct-drive motors and fabric transmission innovations.
- •For drone developers: Incorporate small propeller-based balancing modules to improve control of flying or jumping machines in dynamic conditions.
Authors
Gihyeok Na, Justin K. Yim
Abstract
We demonstrate a jumping robot that reaches high (7.6 m) and fast (190 ms stance time) jumps from a single long leg driven by a direct-drive transmission, without elastic energy storage. At 281 g, it achieves the highest jump yet reported for an electrically actuated, spring-free system. The leg uses a new fabric-wrap transmission that provides a variable mechanical advantage, keeping a small electric motor near its peak power output through the stroke while bracing the long, lightweight leg against buckling. A balancing module at the top of the leg uses small propellers to control the leg's orientation on the ground and in the air, where the long leg provides a large moment arm for the control torques. The robot is validated outdoors with vertical jumps, attitude control on the ground and in flight, and tilted jumps.