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
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Erickson, J.K.: Living the dream: An overview of the Mars exploration project. IEEE Robotics and Automation Magazine 13(2), 12–18 (2006)
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)
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)
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)
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)
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)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag GmbH Berlin Heidelberg
About this chapter
Cite this chapter
Wang, H., Song, G., Zhang, J., Meng, T. (2012). A Bio-inspired Jumping Robot for Mobile Sensor Networks over Rough Terrain. In: Zhang, Y. (eds) Future Communication, Computing, Control and Management. Lecture Notes in Electrical Engineering, vol 142. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-27314-8_9
Download citation
DOI: https://doi.org/10.1007/978-3-642-27314-8_9
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-27313-1
Online ISBN: 978-3-642-27314-8
eBook Packages: EngineeringEngineering (R0)