The DOI matches its Crossref record; 12 of the 12 references it cites were found in a registry or an index.
Flea-Inspired Catapult Mechanism for Miniature Jumping Robots
Abstract
Fleas can jump more than 200 times their body length. They do so by employing a unique catapult mechanism: storing a large amount of elastic energy and releasing it quickly by torque reversal triggering. This paper presents a flea-inspired catapult mechanism for miniature jumping robots. A robotic design was created to realize the mechanism for the biological catapult with shape memory alloy (SMA) spring actuators and a smart composite microstructure. SMA spring actuators replace conventional actuators, transmissions, and the elastic element to reduce the size. The body uses a four-bar mechanism that simulates a flea's leg kinematics with reduced degrees of freedom. Dynamic modeling was derived, and theoretical jumping was simulated to optimize the leg design for increased takeoff speed. A robotic prototype was fabricated with 1.1-g weight and 2-cm body size that can jump a distance of up to 30 times its body size.
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Cites
Wayman, C. M., & 大塚, 和. (1998) · Cambridge University Press eBooks · Cited by 3,134
The First Takeoff of a Biologically Inspired At-Scale Robotic Insect
Wood, R. J. (2008) · IEEE Transactions on Robotics · doi:10.1109/tro.2008.916997 · Cited by 931
The size–grain hypothesis and interspecific scaling in ants
Kaspari, M., & Weiser, M. D. (1999) · Functional Ecology · doi:10.1046/j.1365-2435.1999.00343.x · Cited by 394
The Jump of the Flea: A Study of the Energetics and a Model of the Mechanism
Bennet-Clark, H. C., & Lucey, E. C. A. (1967) · Journal of Experimental Biology · doi:10.1242/jeb.47.1.59 · Cited by 393
Microrobot Design Using Fiber Reinforced Composites
Wood, R. J., Avadhanula, S., Sahai, R., Steltz, E., & Fearing, R. S. (2008) · Journal of Mechanical Design · doi:10.1115/1.2885509 · Cited by 392
Kovac, M., Fuchs, M., Guignard, A., Zufferey, J.-C., & Floreano, D. (2008) · 2008 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2008.4543236 · Cited by 328
Micro artificial muscle fiber using NiTi spring for soft robotics
Kim, S., Hawkes, E. W., Cho, K., Joldaz, M., Foleyz, J., & Wood, R. J. (2009) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2009.5354178 · Cited by 155
Self-citationA Small, Insect-Inspired Robot that Runs and Jumps
Lambrecht, B. G. A., Horchler, A. D., & Quinn, R. D. (2006) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2005.1570285 · Cited by 149
Biomechanics of jumping in the flea
Sutton, G. P., & Burrows, M. (2011) · Journal of Experimental Biology · doi:10.1242/jeb.052399 · Cited by 136
The use of compliant joints and elastic energy storage in bio-inspired legged robots
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Cited by
Soft Actuators for Small-Scale Robotics
Hines, L., Petersen, K., Lum, G. Z., & Sitti, M. (2017) · Advanced Materials · doi:10.1002/adma.201603483 · Cited by 1,337
Jumping on water: Surface tension–dominated jumping of water striders and robotic insects
Koh, J.-S., Yang, E., Jung, G.-P., Jung, S.-P., Son, J. H., Lee, S.-I., Jablonski, P. G., Wood, R. J., Kim, H.-Y., & Cho, K.-J. (2015) · Science · doi:10.1126/science.aab1637 · Cited by 424
Self-citationRobotic Artificial Muscles: Current Progress and Future Perspectives
Zhang, J., Sheng, J., O'Neill, C. T., Walsh, C. J., Wood, R. J., Ryu, J.-H., Desai, J. P., & Yip, M. C. (2019) · IEEE Transactions on Robotics · doi:10.1109/tro.2019.2894371 · Cited by 398
An Overview of Shape Memory Alloy-Coupled Actuators and Robots
Rodrigue, H., Wang, W., Han, M.-W., Kim, T. J. Y., & Ahn, S.-H. (2017) · Soft Robotics · doi:10.1089/soro.2016.0008 · Cited by 269
Metadata
- Authors
- Noh, M., Kim, S.-W., An, S., Koh, J.-S., & Cho, K.-J.
- Venue
- IEEE Transactions on Robotics
- Published
- 2012-10
- Volume
- 28
- Issue
- 5
- Pages
- 1007-1018
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- OpenAlex
- W2091356137
- Cited by
- 272
- References
- 12
- FWCI
- 9.24
- Type
- journal article
- Language
- en
- Open access
- closed
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- Noh, M., Kim, S.-W., An, S., Koh, J.-S., & Cho, K.-J. (2012). Flea-Inspired Catapult Mechanism for Miniature Jumping Robots. IEEE Transactions on Robotics. https://doi.org/10.1109/tro.2012.2198510
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
