We present a rolling and jumping underactuated monopedal robot designed to explore multimodal locomotion on low-gravity bodies. It uses only two reaction wheels to control its spatial orientation with two controllers: a balancing controller which can aim the robot's jump direction on the ground, and an aerial reorientation controller which can aim the robot's leg for landing after flight. We demonstrate rolling, targeted jumping and landing, and self-righting using only three actuators total, keeping system size to 0.33m and 1.25kg. Simple switching between locomotion modes enables the system to deal with differing landscapes and environmental conditions.

翻译：本文提出一种滚动与弹跳结合的欠驱动单足机器人，旨在实现低重力天体环境下的多模态运动。该机器人仅通过两个反作用飞轮控制空间姿态，配备两种控制器：平衡控制器可在地面阶段瞄准弹跳方向，空中重定向控制器可在飞行阶段调整腿部姿态以实现精准着陆。实验表明，该机器人仅使用三个执行器即能完成滚动、定向弹跳着陆及自主翻身功能，系统尺寸控制在0.33米×1.25千克。通过简单的运动模式切换，该系统能够适应不同的地形与环境条件。