Design of a 5-cm Monopod Hopping Robot

The monopod hopper described here fits into a cube that is 5 cm on a side, is autonomous, and is designed to be statically and passively dynamically stable. Hopping is achieved through the excitation of a spring-mass system at its resonant frequency. Simulations were extensively used to finalize the design, before construction of the robot. The hopper, although having no active directional control, is able to climb steps up to 1mm, travel at a rate

• Type: Conference
• Year: 2000
• Where: ICRA
• Authors: Terence E. Wei, Gabriel M. Nelson, Roger D. Quinn, Hiten Verma, Steven L. Garverick
• Keywords: Active Directional Control, ICRA 2000, Monopod Hopper, Resonant Frequency, Robotics