Скачать или смотреть A High-Payload Robotic Hopper Powered by Bidirectional Thrusters

Mobile robots have revolutionized various fields, offering solutions for manipulation, environmental monitoring, and exploration. However, payload capacity remains a limitation. This paper presents a novel thrust-based robotic hopper capable of carrying payloads up to 9 times its own weight while maintaining agile mobility over less structured terrain. The 220 gram robot carries up to 2 kg while hopping—--a capability that bridges the gap between high-payload ground robots and agile aerial platforms. Key advancements that enable this high-payload capacity include the integration of bidirectional thrusters, allowing for both upward and downward thrust generation to enhance energy management while hopping. Additionally, we present a refined model of dynamics that accounts for heavy payload conditions, particularly for large jumps. To address the increased computational demands, we employ a neural network compression technique, ensuring real-time onboard control. The robot's capabilities are demonstrated through a series of experiments, including leaping over a high obstacle, executing sharp turns with large steps, as well as performing simple autonomous navigation while carrying a 730 g LiDAR payload. This showcases the robot's potential for applications such as mobile sensing and mapping in challenging environments.

S. Li, S. Bai, R. Jia, Y. Cai, R. Ding, Y. Shi, F. Zhang, and P. Chirarattananon
IEEE Transactions on Robotics, 2025.