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Minimalist Jumping Robots for Celestial Exploration

Burdick, Joel and Fiorini, Paolo (2003) Minimalist Jumping Robots for Celestial Exploration. International Journal of Robotics Research, 22 (7-8). pp. 653-674. ISSN 0278-3649. https://resolver.caltech.edu/CaltechAUTHORS:20170408-150630780

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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.


Item Type:Article
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1177/027836403128965204DOIArticle
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.
Funders:
Funding AgencyGrant Number
NASA/JPL/CaltechUNSPECIFIED
Center for Neuromorphic Systems Engineering, CaltechUNSPECIFIED
NSFEEC-9402726
Subject Keywords:planetary exploration, field robot, planetary robot, hopping robot, nano rover
Issue or Number:7-8
Record Number:CaltechAUTHORS:20170408-150630780
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20170408-150630780
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:76021
Collection:CaltechAUTHORS
Deposited By: 1Science Import
Deposited On:04 May 2017 22:51
Last Modified:03 Oct 2019 16:56

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