A robotic catapult based on the closed elastica with a high stiffness endpoint and its application to swimming tasks. Yamada, A., Watari, M., Mochiyama, H., & Fujimoto, H. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1477–1482, September, 2008.
doi  abstract   bibtex   
In this paper, we propose a new robotic catapult with a high stiffness endpoint. The conventional robotic catapults based on the closed elastica are robotic elements for generating impulsive motions by utilizing the snap-through buckling. In a typical robotic catapult, the two ends of an elastic strip are fixed to a free joint and an active joint, respectively. Here we found that by adding only the high stiffness at the free joint, compared to the conventional type, more elastic energy can be stored and release surely without loss of a characteristic of generating impulsive motion repeatedly. By utilizing the high stiffness endpoint, we develop a faster impulsive swimming robot than the conventional one.
@inproceedings{yamada_robotic_2008,
	title = {A robotic catapult based on the closed elastica with a high stiffness endpoint and its application to swimming tasks},
	doi = {10.1109/IROS.2008.4651115},
	abstract = {In this paper, we propose a new robotic catapult with a high stiffness endpoint. The conventional robotic catapults based on the closed elastica are robotic elements for generating impulsive motions by utilizing the snap-through buckling. In a typical robotic catapult, the two ends of an elastic strip are fixed to a free joint and an active joint, respectively. Here we found that by adding only the high stiffness at the free joint, compared to the conventional type, more elastic energy can be stored and release surely without loss of a characteristic of generating impulsive motion repeatedly. By utilizing the high stiffness endpoint, we develop a faster impulsive swimming robot than the conventional one.},
	booktitle = {2008 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems}},
	author = {Yamada, A. and Watari, M. and Mochiyama, H. and Fujimoto, H.},
	month = sep,
	year = {2008},
	keywords = {Acceleration, Joints, Potential energy, Robots, Shape, Strips, Torque, buckling, closed elastica, elastic constants, impulsive motion, motion control, robotic catapult, robots, snap-through buckling, stiffness, swimming robot},
	pages = {1477--1482}
}

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