JUMP: Experiment-enabled Modeling of Click Beetle Jumps for Robotic Applications

Click beetles use a unique jumping maneuver to self-right without using their legs. The jump is power-amplified thanks to a hinge situated in the thoracic region. The hinge is composed of a peg and a mesosternal lip, two conformal parts that allow the body to be locked in an arched position before the energy-release phase, which results in a jump. The jump of the beetles is divided into three stages: the pre-jump (latching), take-off (snapping), and airborne (jump) stages. In this paper, we present data extracted from synchrotron x-rays experiments at Argonne National Laboratory. High-speed video recordings (1,000 – 30,000 fps) show the latching phase, the contraction of soft cuticle prior to energy release, and the quick snapping maneuver. To describe the latching and snapping phases of the jump, we integrated experimental and morphological data into new analytical models. A combined mechanical/friction model predicts the initiation of slip between the peg and lip, and a dynamic force analysis model calculates the center of mass accelerations and required torques at the hinge. Understanding the enabling physics of the three jump stages creates numerous opportunities for engineering applications including self-righting robots and power-amplifying actuation systems.