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The International Journal of Robotics Research
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Minimalist Jumping Robots for Celestial Exploration

Joel Burdick

Mechanical Engineering California Institute of Technology Pasadena, California 91125

Paolo Fiorini

Dipartimento di Informatica Universitá di Verona Verona, Italy 37134

In this paper we describe a novel approach to the design and deployment of small and minimally actuated jumping or hopping robots that are suitable for exploring the unstructured terrains of celestial bodies. We introduce the basic jumping mobility paradigm, as well as the evolution of our hopping robot concept by way of the main prototypes that we have developed. These prototypes show that a small number of actuators can control the vehicle's steering, hopping, and self-righting motions. The last prototype is equipped with wheels so that precision motion can be combined with gross hopping motion. Lessons learned during the development of these prototypes have general applicability to the design of jumping robots. In addition to reviewing the issues relevant to the design of jumping systems, in this paper we describe some of the key mechanisms that enable our approach, we summarize tests obtained with these systems, and we present our future plans of localization and sensing for hopping mobility.

Key Words: planetary exploration • field robot • planetary robot • hopping robot • nano rover

The International Journal of Robotics Research, Vol. 22, No. 7-8, 653-674 (2003)
DOI: 10.1177/02783649030227013
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