Lab Papers (GRASP)
Document Type
Conference Paper
Date of this Version
3-1-2022
Publication Source
IEEE Conference on Robotics and Automation (ICRA)
Bib Tex
@inproceedings{sun2022repeated,
title={Repeated jumping with the {REBOund}: Self-righting jumping robot leveraging bistable origami-inspired design},
author = {Yuchen Sun and Joanna Wang and Cynthia Sung},
booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
year={2022}
}
Abstract
Repeated jumping is crucial to the mobility of jumping robots. In this paper, we extend upon the REBOund jumping robot design, an origami-inspired jumping robot that uses the Reconfigurable Expanding Bistable Origami (REBO) pattern as its body. The robot design takes advantage of the pattern's bistability to jump with controllable timing. For jump repeatedly, we also add self-righting legs that utilize a single motor actuation mechanism. We describe a dynamic model that captures the compression of the REBO pattern and the REBOund self-righting process and compared it to the physical robot. Our experiments show that the REBOund is able to successfully self-right and jump repeatedly over tens of jumps.
Supplemental video: https://youtu.be/LoCXcwIxCgU
Copyright/Permission Statement
https://www.ieee.org/publications/rights/author-posting-policy.html
Keywords
origami robot, jumping
Recommended Citation
Yuchen Sun, Joanna Wang, and Cynthia R. Sung, "Repeated Jumping with the REBOund: Self-Righting Jumping Robot Leveraging Bistable Origami-Inspired Design", IEEE Conference on Robotics and Automation (ICRA) . March 2022.
Date Posted: 05 July 2022
This document has been peer reviewed.