CAJ | 학술논문

对比了仿生跳跃机器人较轮式、履带式等其他类型机器人在复杂地形下运动的特定优势.根据生物界不同物种间相对运动速度的对比验证了尺度效应.引入弗劳德系数论证了跳跃方式在小型物体运动中的优势.介绍了日本、美国、意大利等国研究机构有关跳跃机器人的设计方案、研制现状及应用前景.分析了跳跃机器人所涉及的关键技术,提出了微型仿生跳跃机器人的设计方案,包括动力提供、储能和释放、稳定性维持、障碍探测、传感器集成等问题.对跳跃机器人应用领域做了分析和展望.
대비료방생도약궤기인교륜식、리대식등기타류형궤기인재복잡지형하운동적특정우세.근거생물계불동물충간상대운동속도적대비험증료척도효응.인입불로덕계수론증료도약방식재소형물체운동중적우세.개소료일본、미국、의대리등국연구궤구유관도약궤기인적설계방안、연제현상급응용전경.분석료도약궤기인소섭급적관건기술,제출료미형방생도약궤기인적설계방안,포괄동력제공、저능화석방、은정성유지、장애탐측、전감기집성등문제.대도약궤기인응용영역주료분석화전망.
This paper presents a review over bio-inspired concept of jumping robot for locomotion on uneven terrains.First,scale effect is proved by comparison of different speeds of animals and Froude number is introduced to demonstrate the higher effectiveness of jumping mode:in the small robots.The worldwide development of design and application of jumping robots in Japan,USA.Italy,etc,is introduced.Also,description over key techniques used in the robot is given about locomotion,energy storing and releasing,stabilization,sensor integration and obstacle detection.The prospect of the application area is discussed in the end.