The Feedback Trajectory Control of a SMA-Driven Miniature Jumping Robot
Lingqi Tang, Xuelin Wu, Peng Liu, Yao Li, Bing Li
Abstract
Jumping motion is an effective way to overcome large obstacles, especially for the miniature robots. However, controlling of the jumping trajectory on a centimeter scale robot is not easy due to the limitation of size and payload. None of the jumping robots lighter than 90 g achieved the feedback control of their jumping height and take-off angle independently. In this work, we proposed a miniature 6 g jumping robot that ensured the feedback control of jumping trajectory. Two simple PD controllers were used in take-off angle and jumping height control, respectively. The robot can control its jumping height from 0 to 73cm, take-off angle from −20° to +20° with respect to the vertical direction. The control errors of the jumping height and the take-off angle were less than 5 cm and 2°, respectively. The robot can hop upon different obstacles exactly, greatly increased the controllability of the micro jumping robot.
BibTeX
@inproceedings{icra2022_thefeedbacktraje,
title = {The Feedback Trajectory Control of a SMA-Driven Miniature Jumping Robot},
author = {Lingqi Tang and Xuelin Wu and Peng Liu and Yao Li and Bing Li},
booktitle = {ICRA 2022},
year = {2022}
}