Abstract
In this paper, various methods of bio-inspired locomotion are investigated with the objective of designing a robotic system to transport a payload via the convention of repeatable jump gliding. The authors provide the mission objective of transporting a payload over a stepped incline, and propose a winged bipedal robot parameterized under the bounding requisites that such a system be capable of exploiting the joint locomotive implications of jumping and gliding for a series of controlled flights and subsequent landings.
Highlights
Literature reviewJumpgliders have been conceptualized in various implementation
Motivations for gliding after a jump primarily benefit increased distance traveled for a given energy input
Lift generated over the cross section of a surface can be calculated by taking into account for Cl the amount of pressure differential a geometry can conditionally produce), the relative velocity the geometry is traveling through fluid at, the density of the surround fluid, and the surface area of the cross section
Summary
Literature reviewJumpgliders have been conceptualized in various implementation. Inspiration has been drawn from everything from flying fish [1], to locusts [2], and birds [3,4] (Figure 1). As a process which takes advantage of pressure differentials generated through a finite volume of fluid, gliding conventionally translates potential energy into controlled flight. G = Gravity L = Leg actuation length Yf = Desired jump height m = Mass D = Drag θ = Launch Angle
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