Design of a Bioinspired Jumping Mechanism for Self-Takeoff of Flapping Robot

Erzhen Pan; Wei Sun; Wenfu Xu

ICRA 20250 citations

Design of a Bioinspired Jumping Mechanism for Self-Takeoff of Flapping Robot

Abstract

Most birds in nature rely on jumping for takeoff. Flapping-Wing Robots can flap and fly like birds but require an operator to take off, which are unable to generate sufficient lift to maintain flight at a low airspeed and must accelerate to take-off speed in a short time. It poses a challenge for the design of the jumping mechanism. This study is inspired by the jump-takeoff of birds and designs a simple and lightweight jumping leg, which is capable of storing and releasing energy with only one degree of freedom. In addition, a prototype was developed and tested, with a wingspan of 2 meters and a mass of 1.6 kilograms, accelerating to 4 m/s in 52 ms by jumping, achieving the jumping take-off from the ground.

BibTeX

@inproceedings{icra2025_designofabioinsp,
  title = {Design of a Bioinspired Jumping Mechanism for Self-Takeoff of Flapping Robot},
  author = {Erzhen Pan and Wei Sun and Wenfu Xu},
  booktitle = {ICRA 2025},
  year = {2025}
}