{"id":"https://openalex.org/W1778999431","doi":"https://doi.org/10.5075/epfl-thesis-4742","title":"Bioinspired Jumping Locomotion for Miniature Robotics","display_name":"Bioinspired Jumping Locomotion for Miniature Robotics","publication_year":2010,"publication_date":"2010-01-01","ids":{"openalex":"https://openalex.org/W1778999431","doi":"https://doi.org/10.5075/epfl-thesis-4742","mag":"1778999431"},"language":"en","primary_location":{"id":"pmh:oai:infoscience.epfl.ch:148680","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/148680","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"type":"article","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/148680","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033366097","display_name":"Mirko Kova\u010d","orcid":"https://orcid.org/0000-0002-9720-2463"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Kovac, Mirko","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5033366097"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/jumping","display_name":"Jumping","score":0.9825632572174072},{"id":"https://openalex.org/keywords/jumper","display_name":"Jumper","score":0.8946356773376465},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6918361783027649},{"id":"https://openalex.org/keywords/jump","display_name":"Jump","score":0.6425076127052307},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4830642342567444},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43679094314575195},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4224904477596283},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35012710094451904},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.34706175327301025},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11034363508224487},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.10311159491539001},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.06459218263626099}],"concepts":[{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.9825632572174072},{"id":"https://openalex.org/C2777280388","wikidata":"https://www.wikidata.org/wiki/Q872157","display_name":"Jumper","level":2,"score":0.8946356773376465},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6918361783027649},{"id":"https://openalex.org/C2780695682","wikidata":"https://www.wikidata.org/wiki/Q4005959","display_name":"Jump","level":2,"score":0.6425076127052307},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4830642342567444},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43679094314575195},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4224904477596283},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35012710094451904},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.34706175327301025},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11034363508224487},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.10311159491539001},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.06459218263626099},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:infoscience.epfl.ch:148680","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/148680","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"doi:10.5075/epfl-thesis-4742","is_oa":true,"landing_page_url":"https://doi.org/10.5075/epfl-thesis-4742","pdf_url":null,"source":{"id":"https://openalex.org/S4306400488","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Dissertation"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:148680","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/148680","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.6000000238418579,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2040257637","https://openalex.org/W2118935785","https://openalex.org/W1985190053","https://openalex.org/W2118216362","https://openalex.org/W2170804654","https://openalex.org/W2134854819","https://openalex.org/W2110301612","https://openalex.org/W2091356137","https://openalex.org/W2031927761","https://openalex.org/W3044133799","https://openalex.org/W3167333570","https://openalex.org/W3177283733","https://openalex.org/W2122863315","https://openalex.org/W2116021013","https://openalex.org/W2040176476","https://openalex.org/W1995093229","https://openalex.org/W2922020337","https://openalex.org/W2971099763","https://openalex.org/W2520434223","https://openalex.org/W2769708887"],"abstract_inverted_index":{"In":[0,35],"nature,":[1],"many":[2],"small":[3],"animals":[4],"use":[5],"jumping":[6,20,52,69,79,128,142,168,185,203,219,252],"locomotion":[7],"to":[8,14,24,32,46,78,112,115,170,213,218,233,271],"move":[9],"in":[10,88,141],"rough":[11],"terrain.":[12],"Compared":[13],"other":[15],"modes":[16],"of":[17,74,162,266,293],"ground":[18,285],"locomotion,":[19],"allows":[21,156],"an":[22,157,205],"animal":[23],"overcome":[25],"obstacles":[26],"that":[27,44,61,188,256],"are":[28,110],"relatively":[29],"large":[30],"compared":[31,217],"its":[33,172],"size.":[34],"this":[36,89,242],"thesis":[37],"we":[38,150,244],"outline":[39],"the":[40,134,160,177,180,226,237,246,249,291,294],"main":[41],"design":[42,137],"challenges":[43,64],"need":[45],"be":[47,234],"addressed":[48],"when":[49,197,202],"building":[50],"miniature":[51,190,251],"robots.":[53],"We":[54],"then":[55],"present":[56,151],"three":[57],"novel":[58],"robotic":[59],"jumpers":[60],"solve":[62],"those":[63],"and":[65,83,98,107,109,124,179,253,268,282],"outperform":[66],"existing":[67],"similar":[68],"robots":[70,86],"by":[71,132,236],"one":[72],"order":[73],"magnitude":[75],"with":[76,121,182,286],"regard":[77],"height":[80],"per":[81],"size":[82],"weight.":[84],"The":[85,174],"presented":[87,259],"thesis,":[90],"called":[91],"EPFL":[92,95,99,247],"jumper":[93,96,100],"v1,":[94],"v2":[97],"v3":[101],"have":[102],"a":[103,152,167,183,264],"weight":[104],"between":[105],"7g":[106],"14.3g":[108],"able":[111,270],"jump":[113,272],"up":[114],"27":[116],"times":[117],"their":[118],"own":[119],"size,":[120],"onboard":[122],"energy":[123,228],"control.":[125],"This":[126],"high":[127],"performance":[129],"is":[130,194,269],"achieved":[131],"using":[133],"same":[135],"mechanical":[136],"principles":[138],"as":[139,145],"found":[140],"insects":[143],"such":[144],"locusts":[146],"or":[147],"fleas.":[148],"Further,":[149],"theoretical":[153],"model":[154,178],"which":[155,231],"evaluation":[158],"whether":[159],"addition":[161],"wings":[163,193,210],"could":[164],"potentially":[165],"allow":[166],"robot":[169,186,238,255],"prolong":[171],"jumps.":[173],"results":[175],"from":[176,204,273],"experiments":[181],"winged":[184],"indicate":[187],"for":[189],"robots,":[191],"adding":[192,209],"not":[195],"worthwhile":[196],"moving":[198],"on":[199,229,241,284],"ground.":[200],"However,":[201],"elevated":[206,274],"starting":[207],"position,":[208],"can":[211,224],"lead":[212],"longer":[214],"distances":[215],"traveled":[216],"without":[220],"wings.":[221],"Moreover,":[222],"it":[223],"reduce":[225],"kinetic":[227],"impact":[230],"needs":[232],"absorbed":[235],"structure.":[239],"Based":[240],"conclusion,":[243],"developed":[245],"jumpglider,":[248],"first":[250],"gliding":[254,278],"has":[257,263],"been":[258],"so":[260],"far.":[261],"It":[262],"mass":[265],"16.5g":[267],"positions,":[275],"perform":[276],"steered":[277],"flight,":[279],"land":[280],"safely":[281],"locomote":[283],"repetitive":[287],"jumps1.":[288],"______________________________":[289],"1See":[290],"collection":[292],"accompanying":[295],"videos":[296],"at":[297],"http://lis.epfl.ch/microglider/moviesAll.zip":[298]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2025-10-10T00:00:00"}