Underactuated multimodal jumping robot for extraterrestrial exploration

TL;DR

This paper introduces a compact, underactuated monopedal robot capable of multimodal locomotion, including rolling, jumping, and self-righting, designed specifically for low-gravity extraterrestrial environments.

Contribution

It presents a novel underactuated robot with only three actuators that can perform multiple locomotion modes for planetary exploration.

Findings

Successfully demonstrated rolling, jumping, and landing maneuvers.

Achieved targeted jumps and self-righting with minimal actuators.

System size is 0.33m and weight is 1.25kg.

Abstract

We present a rolling and jumping underactuated monopedal robot designed to explore multimodal locomotion on low-gravity bodies. It uses only two reaction wheels to control its spatial orientation with two controllers: a balancing controller which can aim the robot's jump direction on the ground, and an aerial reorientation controller which can aim the robot's leg for landing after flight. We demonstrate rolling, targeted jumping and landing, and self-righting using only three actuators total, keeping system size to 0.33m and 1.25kg. Simple switching between locomotion modes enables the system to deal with differing landscapes and environmental conditions.