Hybrid Hopping-Flying Robot With Passive Elastic Telescopic Leg
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Solution Overview
Problem
Existing robots capable of both jumping and flying face challenges in achieving continuous hopping and fine-tuning jump height while maintaining sustained flight, due to limitations in conventional jumping mechanisms and the complexity of integrating jumping and flying behaviors.
Innovation Solution
A hybrid hopping-flying robot is designed with a passive elastic telescopic leg, allowing it to jump and fly continuously by leveraging the existing rotors for jumping and using thrust-based actuation for flight, enabling adjustable jump height and high hopping agility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If latched actuation mechanisms are used for jumping, then explosive energy release is achieved, but jump height is fixed or continuous hopping becomes difficult
Solution Approach 1:
The patent employs a semi-active actuation system that dynamically adjusts the latch release timing based on real-time sensor feedback. The latch mechanism remains engaged during the stance phase and is released at the optimal moment to maximize jump height, transitioning from a static fixed-height mechanism to a dynamic adaptive system that can vary jump parameters while maintaining explosive power.
Solution Approach 2:
The patent incorporates sensors that monitor robot state during hopping and use this feedback to control latch release timing. This closed-loop control enables the system to achieve both explosive energy release and variable jump heights by adjusting the release moment based on measured parameters such as leg compression and robot velocity.
2Adaptability or versatility
If unlatched actuation mechanisms with direct actuator drive are used, then continuous hopping with variable height is enabled, but instantaneous power for high jumps is insufficient
Solution Approach 1:
The patent uses a spring-loaded latch mechanism that pre-stores elastic energy during the stance phase. The actuator gradually compresses the spring while the latch holds the energy, preparing for explosive release. This preliminary energy storage enables high instantaneous power output when the latch releases, solving the power deficiency of direct actuator drive systems.
Solution Approach 2:
The patent implements a cyclic hopping pattern where the actuator periodically compresses the spring during stance phase and the latch releases energy at the optimal moment. This periodic semi-active actuation enables continuous variable-height hopping while maintaining high instantaneous power through repeated energy storage and release cycles.
3Ease of operation
If series-elastic jumping mechanisms are used, then variable mechanical advantage and jumping agility are improved, but mechanical structure becomes complex and stance time increases
Solution Approach 1:
The patent extracts the energy storage function from a complex series-elastic mechanism and implements it through a simpler spring-loaded latch system. The latch mechanism isolates the energy storage element, allowing variable jump heights through timing control rather than complex mechanical advantage variations, thereby reducing overall structural complexity while maintaining jumping agility.
Solution Approach 2:
The patent replaces complex mechanical advantage variation mechanisms with a semi-active control system that uses sensor feedback to timing latch release. This substitution of mechanical complexity with control intelligence achieves variable jumping agility through temporal control rather than mechanical design, reducing stance time and structural complexity.
4Speed
If existing jumping mechanisms are combined with aerial platforms, then rapid altitude gain is achieved, but continuous hopping and fine-tuned jump height are not possible
Solution Approach 1:
The patent integrates a semi-active latch mechanism with the aerial platform that dynamically adjusts jump parameters based on real-time sensor feedback. This enables the hybrid robot to achieve rapid altitude gain through explosive latch release while simultaneously enabling continuous variable-height hopping by controlling the timing and force of each jump, combining the advantages of both latched and unlatched mechanisms.
Solution Approach 2:
The patent creates a universal jumping mechanism that combines the explosive power of latched actuation with the continuous control of semi-active systems. The latch mechanism serves multiple functions: storing elastic energy, enabling rapid energy release for high jumps, and allowing variable height control through timing adjustment, thereby achieving both rapid altitude gain and continuous hopping capability in a single integrated system.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The robot achieves unprecedented hopping agility with a short stance phase, enabling higher jumping frequencies and agility, and functions as a regular micro aerial vehicle in flight mode, allowing for stable hovering and agile maneuvering.
Implementation Method 1
an elastic element (elastomer) mounted between the upper leg section and the lower leg section
Implementation Method 2
leveraging the existing rotors for jumping
Data Source
AI summary
There is provided a robot comprising an aerial unit, a passive leg mechanism operably coupled with the aerial unit, and a controller. The controller is configured to control operation of the aerial unit such that the robot is operable in, at least, a flight mode and a hopping mode.