Abstract
In this paper, we propose a palm-top jumping robot based on snap-through buckling of closed elastica for stair-climbing. The proposed robot is a modified version of an existing robot using spatially deformable arch-type closed elastica, but has much higher jumping capability due to the following two effects of the fi-shaped frame. One is appropriate elasticity for supporting the elastica, which drastically enhances the ability to generate impulsive forces for jumping. The other one is easy adjustment of the mass balance of the robot so that the tip of the leg attached to the closed elastica, with which the robot applies the impulse force to the ground, pushes near the ground point below its center of gravity. Experimental results using a palm-top prototype with 36 [g] weight show that the compact and light-weight robot can jump over about 20[cm] corresponding to the height of a step of a normal stair in spite of having 14[g] payload. The robot has potential to achieve quick stair climbing because it can generate impulse forces repeatedly at a frequency of 1.25[Hz].
