A single motor actuated miniature steerable jumping robot

Abstract

This paper together with the accompanied video presents our improved single motor actuated miniature jumping robot. The robot has a maximum size 6.5 centimeter and a mass 23.5 gram. It can jump towards a desired direction and jump continuously. With a take-off angle 75°, the average jumping height is 0.9 meter. In the video, the detailed robot design is illustrated, and experiments in various situations are presented. These scenarios suggest potential applications of such miniature jumping robots such as surveillance, environmental monitoring, or locomotion in environments with obstacles.