Review on Mechanism Design and Jumping Process Control of Jumpable Mobile Robots

doi:10.3901/JME.2024.15.001

Abstract

Abstract: In recent years, mobile robots that combine traditional wheeled, legged, and jumping movements have received widespread attention from researchers. Their advantages in unstructured terrain make them have broad application prospects in emergency rescue, field inspections, underground exploration, and other fields. The current research status of new mobile robots such as wheeled jumping robots, wheeled leg jumping robots, and spherical jumping robots are all introduced in detail in the paper, and a comparative analysis also is conducted from their mechanism design and jumping control aspects. In terms of mechanism design, it analyzes the jumping mechanism design characteristics of wheeled, wheeled leg, and spherical jumping robots in recent years, and summarizes their structural design characteristics. In the section of jump control methods, the aerial attitude control methods and landing buffering control methods of jumping mobile robots were reviewed. Finally, from the aspects of structure, energy storage, intelligent control and so on, the future development direction and trend of jumping mobile robot are discussed and prospected.

Key words: mobile robots, jump control, jumping mechanism

CLC Number:

TP242

SONG Jingzhou, GONG Xinglong, DUAN Jiachen, ZHANG Tengfei. Review on Mechanism Design and Jumping Process Control of Jumpable Mobile Robots[J]. Journal of Mechanical Engineering, 2024, 60(15): 1-17.

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