Project

# Title Team Members TA Documents Sponsor
36 Design, build and control of a jumping robot
 Hanjun Luo
Siying Yu
Xinyi Yang
Xuecheng Liu
 final_paper1.pdf
final_paper2.pdf
other1.pdf
presentation1.pdf
proposal1.pdf
 Hua Chen
## MEMBERS

- Xinyi Yang [xinyiy19]

- Xuecheng Liu [xl125]

- Hanjun Luo [hanjunl2]

- Siying Yu [siyingy3]

## Problem

Jumping robots have the potential to navigate challenging terrains, access confined spaces, and operate in environments where traditional wheeled or legged robots struggle. However, achieving controlled, efficient, and multi-level jumping remains a significant challenge due to the need for precise energy storage and release mechanisms, dynamic stability, and adaptive landing strategies.

## Solution Overview

To address the challenges of controlled and efficient jumping, we propose a bio-inspired jumping robot that mimics the flea’s powerful jumping mechanism. Our robot uses a spring-based energy storage system to build up and release energy efficiently, generating powerful jumps. A motor-driven control system adjusts the force applied to change jump height. The lightweight structure mimics a flea’s legs to improve force transfer while keeping the robot compact. By combining these elements, our design makes jumping more controlled and adaptable.

## Solution Components

Energy Storage & Release Module: Our design adopts a spring-based energy storage system, mimicking the flea’s resilin pads to maximize energy density. A motor-driven mechanism gradually stretches the spring, storing potential energy, which is rapidly released through a triggering system to generate explosive jumping force.

Actuation & Height Control Module: The jumping process is controlled by a motor-actuated system that regulates energy input and adapts to different jumping heights. By integrating a control system, the robot can adjust force application and optimize energy utilization for multi-level jumps.

Structural Design: Inspired by the flea’s exoskeletal structure, our robot employs a lightweight yet high-strength frame to optimize force transmission. The robotic legs mimic biological multi-joint configurations, allowing efficient energy redirection and reducing stress concentration.

## Criteria of Success

Multi-Level Jumping: The robot must successfully perform three distinct jump heights, achieving at least two successful attempts for each height.

Instant Actuation: The robot must initiate a jump within a short response time after receiving the command.

Durability: The robot should withstand multiple jumps without failure or significant performance degradation.


## Distribution of Work

Xinyi Yang: Designs and optimizes the robot’s structure and leg mechanism for efficient force transmission.
Siying Yu: Develops an embedded control system for for the motor and circuit system to control energy storage and release.
Hanjun Luo: Implements control algorithms and integrates all components and tests jumping performance for reliability.
Xuecheng Liu: Implements the control algorithm and integrates all components and tests jumping performance for reliability.

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