TY - GEN
T1 - The Feedback Trajectory Control of a SMA-Driven Miniature Jumping Robot
AU - Tang, Lingqi
AU - Wu, Xuelin
AU - Liu, Peng
AU - Li, Yao
AU - Li, Bing
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Jumping motion is an effective way to overcome large obstacles, especially for the miniature robots. However, controlling of the jumping trajectory on a centimeter scale robot is not easy due to the limitation of size and payload. None of the jumping robots lighter than 90 g achieved the feedback control of their jumping height and take-off angle independently. In this work, we proposed a miniature 6 g jumping robot that ensured the feedback control of jumping trajectory. Two simple PD controllers were used in take-off angle and jumping height control, respectively. The robot can control its jumping height from 0 to 73cm, take-off angle from -20° to +20° with respect to the vertical direction. The control errors of the jumping height and the take-off angle were less than 5 cm and 2°, respectively. The robot can hop upon different obstacles exactly, greatly increased the controllability of the micro jumping robot.
AB - Jumping motion is an effective way to overcome large obstacles, especially for the miniature robots. However, controlling of the jumping trajectory on a centimeter scale robot is not easy due to the limitation of size and payload. None of the jumping robots lighter than 90 g achieved the feedback control of their jumping height and take-off angle independently. In this work, we proposed a miniature 6 g jumping robot that ensured the feedback control of jumping trajectory. Two simple PD controllers were used in take-off angle and jumping height control, respectively. The robot can control its jumping height from 0 to 73cm, take-off angle from -20° to +20° with respect to the vertical direction. The control errors of the jumping height and the take-off angle were less than 5 cm and 2°, respectively. The robot can hop upon different obstacles exactly, greatly increased the controllability of the micro jumping robot.
UR - https://www.scopus.com/pages/publications/85136339024
U2 - 10.1109/ICRA46639.2022.9811370
DO - 10.1109/ICRA46639.2022.9811370
M3 - 会议稿件
AN - SCOPUS:85136339024
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 9769
EP - 9775
BT - 2022 IEEE International Conference on Robotics and Automation, ICRA 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 39th IEEE International Conference on Robotics and Automation, ICRA 2022
Y2 - 23 May 2022 through 27 May 2022
ER -