Underactuated multimodal jumping robot for extraterrestrial exploration
This addresses the challenge of navigating varied terrains on low-gravity bodies for space exploration, though it appears incremental as it builds on existing underactuated robot concepts.
The researchers tackled the problem of enabling a lightweight robot to perform multimodal locomotion for extraterrestrial exploration by developing an underactuated monopedal robot that uses only two reaction wheels and three actuators, achieving rolling, targeted jumping and landing, and self-righting with a system size of 0.33m and 1.25kg.
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.