In this paper, we present a novel rolling, jumping robot. The robot consists of a driven pendulum mounted to a wheel in a compact, lightweight, 3D printed design. We show that by using the driven pendulum to change it's weight distribution, the robot is able to obtain significant rolling speed, achieve jumps of up to 2.5 body lengths vertically, and also clear horizontal distances of over 6 body lengths while jumping. The robot's dynamic model is derived and simulation results indicate that it is consistent with the motion and jumping observed on the robot. The ability to both roll and jump effectively using a minimalistic design makes this robot unique and could inspire the use of similar mechanisms on robots intended for applications in which agile locomotion on unstructured terrain is necessary, such as disaster response or planetary exploration.

翻译：本文提出了一种新型滚动跳跃机器人。该机器人由一个安装在轮子上的驱动摆组成，采用紧凑轻量化的3D打印设计。研究表明，通过驱动摆改变质量分布，机器人能够实现显著的滚动速度，完成高达2.5倍体长的垂直跳跃，并在跳跃时跨越超过6倍体长的水平距离。本文推导了机器人的动力学模型，仿真结果表明该模型与机器人的实际运动及跳跃行为一致。这种仅通过简约设计即可有效实现滚动与跳跃能力的特性，使该机器人独具特色，并可能启发在非结构化地形中需敏捷移动的应用场景（如灾害响应或行星探测）中采用类似机构。