Modular Reconfigurable Robots in Space Applications
Autonomous Robots
A miniature jumping robot with self-recovery capabilities
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Design of a bionic saltatorial leg for jumping mini robot
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part I
Review: A review of active structural control: challenges for engineering informatics
Computers and Structures
The challenges ahead for bio-inspired 'soft' robotics
Communications of the ACM
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Jumping is used in nature by many small animals to locomote in cluttered environments or in rough terrain. It offers small systems the benefit of overcoming relatively large obstacles at a low energetic cost. In order to be able to perform repetitive jumps in a given direction, it is important to be able to upright after landing, steer and jump again. In this article, we review and evaluate the uprighting and steering principles of existing jumping robots and present a novel spherical robot with a mass of 14 g and a size of 18 cm that can jump up to 62 cm at a take-off angle of 75°, recover passively after landing, orient itself, and jump again. We describe its design details and fabrication methods, characterize its jumping performance, and demonstrate the remote controlled prototype repetitively moving over an obstacle course where it has to climb stairs and go through a window. (See videos 1---4 in the electronic supplementary material.)