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Published July 2003 | public
Journal Article

Minimalist Jumping Robots for Celestial Exploration

Abstract

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.

Additional Information

© 2003 SAGE Publications. This work was supported by the JPL, California Institute of Technology (Caltech), under contract with NASA. This work was also partially funded by a grant from the National Science Foundation through the Center for Neuromorphic Systems Engineering at Caltech, grant NSF9402726. The authors thank Andy Tretten, Matt Heverly, Jeff Gensler, Eric Hale, Nathan Schara, Steve Schell, Ed Barlow and Sawyer B. Fuller for their design and fabrication support, and Samad Hayati and Neville Marzwell of JPL-NASA for their financial support and encouragement.

Additional details

Created:
September 28, 2023
Modified:
October 24, 2023