A Pendulum-Driven Legless Rolling Jumping Robot

Jake Buzhardt,Prashanth Chivkula,Phanindra Tallapragada,Jake Buzhardt,Prashanth Chivkula,Phanindra Tallapragada

In this paper, we present a novel rolling, jumping robot. The robot consists of a driven pendulum mounted to a wheel in a compact, lightweight, 3D printed design. We show that by driving the pendulum to shift the robot's weight distribution, the robot is able to obtain significant rolling speed, achieve jumps of up to 2.5 body lengths vertically, and clear horizontal distances of over 6 body lengt...