Pinto机器人用弹簧锁机制实现跳跃与树干停驻，模仿松鼠行为。
Pinto: A latched spring actuated robot for jumping and perching
- 用扭绞绳和碳纤维弹簧设计可锁紧的串弹性执行器。
- 跳跃能量比无弹簧或传统串弹性方案提升3倍以上。
- 适合研究仿生跳跃与攀爬的机器人学者参考。
树栖环境对现有机器人构成挑战，但松鼠等动物能自如穿行。我们开发了一款重450克的微型机器人Pinto，用于实现地面跳上垂直树干的行为，这是松鼠常见但少有足式机器人实现的动作。通过使用扭绞绳和碳纤维弹簧，构建了高功率、轻量化的可锁紧串弹性执行器。分析了常规四足机器人小型化的限制，并实验证明：利用锁扣以并联弹性方式储能，相比串弹性或无弹簧策略，显著提升跳跃能量。通过可切换串-并联弹性模式的锁扣五杆腿结构，Pinto既能完成高能跳跃，又能实现短程弹跳时的连续控制。此外，还设计了带棘爪的两自由度弹簧臂，可在跳跃后高速抓握树皮完成停驻。
原文摘要 · Abstract (English)
Arboreal environments challenge current robots but are deftly traversed by many familiar animal locomotors such as squirrels. We present a small, 450 g robot "Pinto" developed for tree-jumping, a behavior seen in squirrels but rarely in legged robots: jumping from the ground onto a vertical tree trunk. We develop a powerful and lightweight latched series-elastic actuator using a twisted string and carbon fiber springs. We consider the effects of scaling down conventional quadrupeds and experimentally show how storing energy in a parallel-elastic fashion using a latch increases jump energy compared to series-elastic or springless strategies. By switching between series and parallel-elastic modes with our latched 5-bar leg mechanism, Pinto executes energetic jumps as well as maintains continuous control during shorter bounding motions. We also develop sprung 2-DoF arms equipped with spined grippers to grasp tree bark for high-speed perching following a jump.
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