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We propose a simple hopping mechanism using the vibration of a  two-degrees-of-freedom (DOF) system for a fast stair-climbing robot. The  robot, consisting of two bodies connected by springs, hops by releasing  energy stored in springs and travels quickly using wheels mounted on its  lower body. The trajectories of bodies during hopping change based on design  parameters such as the reduced mass of the two bodies, mass ratio between  the upper and lower bodies, spring constant, and control parameters such as  initial contraction of the spring and wire tension. This property allows the  robot to quickly and economically climb stairs and land softly. In this  paper, the characteristics of hopping for the design and control parameters  are clarified by both numerical simulation and experiments. Furthermore,  fast stair climbing and soft landing are demonstrated.

Wheel-Based Stair Climbing Robot with Hopping Mechanism - Fast Stair Climbing and Soft Landing Using Vibration of 2-DOF System -