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arXiv · 2005.11435

Ascento: A Two-Wheeled Jumping Robot

Victor Klemm·Alessandro Morra·Ciro Salzmann·Florian Tschopp·Karen Bodie·Lionel Gulich·Nicola Küng·Dominik Mannhart·Corentin Pfister·Marcus Vierneisel·Florian Weber·Robin Deuber·Roland Siegwart
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Abstract

Applications of mobile ground robots demand high speed and agility while navigating in complex indoor environments. These present an ongoing challenge in mobile robotics. A system with these specifications would be of great use for a wide range of indoor inspection tasks. This paper introduces Ascento, a compact wheeled bipedal robot that is able to move quickly on flat terrain, and to overcome obstacles by jumping. The mechanical design and overall architecture of the system is presented, as well as the development of various controllers for different scenarios. A series of experiments with the final prototype system validate these behaviors in realistic scenarios.

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Victor Klemm, Alessandro Morra, Ciro Salzmann, Florian Tschopp, Karen Bodie, Lionel Gulich, Nicola Küng, Dominik Mannhart, Corentin Pfister, Marcus Vierneisel, Florian Weber, Robin Deuber, Roland Siegwart. 2020-05-23. Ascento: A Two-Wheeled Jumping Robot. https://doi.org/10.1109/icra.2019.8793792

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