Design, Analysis and Experimental Evaluation of a Gas-Fuel-Powered Actuator for Robotic Hoppers

Abstract

Field robots often need to overcome obstacles multiple times their own size when exploring the environment. To address this need, we revisit a concept where a compact mechanical hopping actuator powered by gas-fuel was designed and tested. The idea is further refined, analyzed and realized in this reported study, characterized by a double-piston structure and a magnetic latch. Analysis is performed on the postcombustion dynamics to obtain the takeoff velocity of the actuator, which determines its jumping height. An experimental setup is constructed to test the design in indoor and outdoor environments. Laboratory (indoor) tests were carried out to obtain the takeoff parameters of the actuato..