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dc.contributor.authorOlsen, Jørgen Anker
dc.contributor.authorAlexis, Konstantinos
dc.date.accessioned2023-11-27T08:21:06Z
dc.date.available2023-11-27T08:21:06Z
dc.date.created2023-11-18T10:33:48Z
dc.date.issued2023
dc.identifier.isbn978-1-6654-3684-7
dc.identifier.urihttps://hdl.handle.net/11250/3104698
dc.description.abstractThe potential of Martian lava tubes for resource extraction and habitat sheltering highlights the need for robots capable to undertake the grueling task of their exploration. Driven by this motivation, in this work we introduce a legged robot system optimized for jumping in the low gravity of Mars, designed with leg configurations adaptable to both bipedal and quadrupedal systems. This design utilizes torque-controlled actuators coupled with springs for high-power jumping, robust locomotion, and an energy-efficient resting pose. Key design features include a 5-bar mechanism as leg concept, combined with springs connected by a high-strength cord. The selected 5-bar link lengths and spring stiffness were optimized for maximizing the jump height in Martian gravity and realized as a robot leg. Two such legs combined with a compact body allowed jump testing of a bipedal prototype. The robot is 0.472 m tall and weighs 7.9 kg. Jump testing with significant safety margins resulted in a measured jump height of 1.141 m in Earth's gravity, while a total of 4 jumping experiments are presented. Simulations utilizing the full motor torque and kinematic limits of the design resulted in a maximum possible jump height of 1.52 m in Earth's gravity and 3.63 m in Mars' gravity, highlighting the versatility of jumping as a form of locomotion and overcoming obstacles in lower gravity.en_US
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.relation.ispartof2023 IEEE International Conference on Advanced Robotics (ICAR)
dc.rightsNavngivelse 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/deed.no*
dc.titleDesign and Experimental Verification of a Jumping Legged Robot for Martian Lava Tube Explorationen_US
dc.title.alternativeDesign and Experimental Verification of a Jumping Legged Robot for Martian Lava Tube Explorationen_US
dc.typeChapteren_US
dc.description.versionacceptedVersionen_US
dc.rights.holder© Copyright 2023 IEEE - All rights reserved.en_US
dc.identifier.cristin2198346
cristin.ispublishedtrue
cristin.fulltextpostprint


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Navngivelse 4.0 Internasjonal
Except where otherwise noted, this item's license is described as Navngivelse 4.0 Internasjonal