Hopper on Wheels: Evolving the Hopping Robot Concept


This paper describes the evolution of our concept of hopping robot for planetary exploration, that combines coarse long range mobility achieved by hopping, with short range wheeled mobility for precision target acquisition. We show that a small number of actuators can control the vehicle's mobility, which now includes hopping distance and angle control, and independent wheel control. The electronic control of this prototype consists of a simple multiprocessor architecture, which is coupled to a mechanical timing logic for additional reliability and reduction in actuator number. This vehicle carries a color camera, a pair of dual-axis accelerometers, and an RF modem for remote communication. The paper summarizes the evolutionary development of our hopping robots, issues relevant to the design of jumping-wheeled systems, and experimental results obtained with the di erent prototypes.

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@inproceedings{SchellHopperOW, title={Hopper on Wheels: Evolving the Hopping Robot Concept}, author={Steve Schell and Andy Tretten and Joel Burdick and Paolo Fiorini} }