Jumping Mechanism Assists Takeoff for Large-Sized Flapping-Wing Robots

Abstract

Flapping-wing robots exhibit numerous advantages in flight performance, which mimic the natural flight of birds or insects. However, autonomous takeoff remains a significant challenge for large-sized bird-like flapping-wing robots. To address this challenge, we design a jumping mechanism based on a bow-like carbon fiber spring. This mechanism is capable of repeated self-compression and release and can be readily integrated into flapping-wing robots to assist their jumping takeoff. Then we conduct a mechanical analysis of the motion states during the jumping takeoff process. Additionally, we propose a jump-flapping coupling control method based on sensor data to ensure a seamless transition and smooth coordination between the jumping and flapping action, thus enabling a smooth takeoff. Experimental results validate the effectiveness of the proposed jumping mechanism and its collaborative control strategy. This study provides support for advancing flapping-wing robots toward autonomous multi-modal locomotion and further deepens research in this field.