Analysis and Simulation of a Jumping Robot Actuated by Shape Memory Alloy

  • Thanhtam Ho
  • Sangyoon Lee
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)


This paper reports design, analysis, and simulation of a mesoscale robot that is designed to locomote by jumping. Jumping can be quite advantageous over other locomotion ways on the ground, especially in terms of ability of obstacle avoidance. First bioinspired design of a jumping mechanism using only one shape memory alloy (SMA) spring is introduced. The use of SMA spring reduces the weight and the complexity of the robot. Then design of a landing mechanism and analysis on stable landing are described. The robot is designed in order for its center of gravity (COG) to lie inside the safety cone. Methods for choosing optimum parameters in the robot design such as the spring stiffness and the tilt angle are also presented through mechanical analysis and simulation.


Mobile robot Jumping robot Shape memory alloy 



This research was supported by Leading Foreign Research Institute Recruitment Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT & Future Planning (MSIP) (2010-00525).


  1. 1.
    Bergbreiter, S.: Effective and efficient locomotion for millimeter-sized microrobots. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (2008)Google Scholar
  2. 2.
    Kovač, M., et al.: Steerable miniature jumping robot. Autonomous Robots, 28, 295–306 (2009)Google Scholar
  3. 3.
    Kovac, M., et al.: A miniature jumping robot with self-recovery capabilities, In: IEEE/RSJ international conference on Intelligent robots and systems (2009)Google Scholar
  4. 4.
    Scarfogliero, U., C. Stefanini, and P. Dario: A bioinspired concept for high efficiency locomotion in micro robots: the jumping Robot Grillo. In: IEEE International Conference on Robotics and Automation (2006)Google Scholar
  5. 5.
    Armour, R.H.: A Biologically Inspired Jumping and Rolling Robot Department of Mechanical Engineering, University of Bath (2010)Google Scholar
  6. 6.
    Ho, T. Lee, S.: Design and implementation of an SMA-actuated jumping robot. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (2010)Google Scholar
  7. 7.
    Zanaboni, E.: One Way and Two Way Shape Memory Effect: Thermo-Mechanical Characterization of Ni-Ti wires Department of Structural Mechanics, University of Pavia (2008)Google Scholar
  8. 8.
    Inc., I.S. Nitinol Expansion Spring,
  9. 9.
    Burrows, M.: Biomechanics: Froghopper insects leap to new heights. Nature, 424, 509 (2003)Google Scholar
  10. 10.
    Burrows, M.: Morphology and action of the hind leg joints controlling jumping in froghopper insects. J Exp Biol, 209, 4622–4637 (2006)Google Scholar
  11. 11.
    Jianguo, Z., et al.: Development of a miniature self-stabilization jumping robot. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (2009)Google Scholar

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Department of Mechanical Design and Production EngineeringKonkuk UniversitySeoulKorea

Personalised recommendations