Advertisement

A Bio-inspired Jumping Robot for Mobile Sensor Networks over Rough Terrain

  • Hui Wang
  • Guangming Song
  • Jun Zhang
  • Tianhua Meng
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 142)

Abstract

This paper presents a new bio-inspired leg-wheel robot “HopMote” that can serve as a hopping node for mobile sensor networks. The proposed robot, which is 9cm in height and 250g in weight, can leap over obstacles more than 4 times its own size. It depends on the elastic elements in a six-bar linkage leg system to enable jump locomotion. It can also roll freely and change its directions by the two-wheeled differential drive system. It adopts the ZigBee protocol for wireless communication and therefore can be added to a ZigBee-based sensor network as a mobile video sensor node. Its effectiveness is verified by some performance tests including jump locomotion and multi-hop image transmission.

Keywords

mobile sensor network leg-wheel robot image transmission rough terrain 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Erickson, J.K.: Living the dream: An overview of the Mars exploration project. IEEE Robotics and Automation Magazine 13(2), 12–18 (2006)MathSciNetCrossRefGoogle Scholar
  2. 2.
    Grand, C., BenAmar, F., Plumet, F., Bidaud, P.: Decoupled control of posture and trajectory of the hybrid wheel-legged robot Hylos. In: IEEE Int. Conf. on Robotics and Automation, pp. 5111–5116 (2004)Google Scholar
  3. 3.
    Tsukagoshi, H., Sasaki, M., Kitagawa, A., Tanaka, T.: Design of a higher jumping rescue robot with the optimized pneumatic drive. In: IEEE Int. Conf. on Robotics and Automation, pp. 1288–1295 (2005)Google Scholar
  4. 4.
    Rohmer, E., Reina, G., Ishigami, G., Nagatani, K., Yoshida, K.: Action planner of hybrid leg-wheel robots for lunar and planetary exploration. In: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3902–3907 (2008)Google Scholar
  5. 5.
    Tanaka, T., Hirose, S.: Development of leg-wheel hybrid quadruped “AirHopper” design of powerful light-weight leg with wheel. In: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3890–3895 (2008)Google Scholar
  6. 6.
    Song, G., Zhou, Y., Wei, Z., Song, A.: A smart node architecture for adding mobility to wireless sensor networks. Sens. Actuators A Phys. 147(1), 216–221 (2008)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2012

Authors and Affiliations

  • Hui Wang
    • 1
  • Guangming Song
    • 1
  • Jun Zhang
    • 1
  • Tianhua Meng
    • 1
  1. 1.School of Instrument Science and EngineeringSoutheast UniversityNanjingChina

Personalised recommendations