Self-righting, steering and takeoff angle adjusting for a jumping robot

This paper presents a 9 cm × 7 cm × 12 cm, 154 g jumping robot with self-righting, steering, and takeoff angle adjusting capabilities. The quick energy releasing function of the jumping mechanism is implemented by using an eccentric cam. The self-righting, steering, and takeoff angle adjusting capabilities are achieved by adding a rotatable pole leg. The pole leg can prop up the body of the robot when it falls down. The pole leg can also steer the robot to turn at a step of about 24°. By adjusting the center of mass (COM), the robot can jump at different takeoff angles. Experimental results show that the constructed robot can jump more than 88 cm high at a takeoff angle of 82.7° and it can continuously jump to overcome stairs.