Ascento: A Two-Wheeled Jumping Robot

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.

7 pages, 11 Figures, ICRA 2019

References in corpus (1)

• Voliro: An Omnidirectional Hexacopter With Tiltable Rotors

Cited by in corpus (11)

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• Learning Robust Autonomous Navigation and Locomotion for Wheeled-Legged Robots
• Robust Quadruped Jumping via Deep Reinforcement Learning
• Design and Control of a Bio-inspired Wheeled Bipedal Robot
• Modeling and Control of a Hybrid Wheeled Jumping Robot
• Height Control and Optimal Torque Planning for Jumping With Wheeled-Bipedal Robots
• StaccaToe: A Single-Leg Robot that Mimics the Human Leg and Toe
• Underactuated Motion Planning and Control for Jumping with Wheeled-Bipedal Robots
• The Mini Wheelbot: A Testbed for Learning-based Balancing, Flips, and Articulated Driving
• Analysis of Model-Free Reinforcement Learning Control Schemes on self-balancing Wheeled Extendible System
• Ankle Joints Are Beneficial When Optimizing Supported Real-world Bipedal Robot Gaits