A Long-Legged, Direct-Drive Monopedal Robot Achieves Exceptional Jump Height

Abstract:We demonstrate a jumping robot that reaches high (7.6 m) and fast (190 ms stance time) jumps from a single long leg driven by a direct-drive transmission, without elastic energy storage. At 281 g, it achieves the highest jump yet reported for an electrically actuated, spring-free system. The leg uses a new fabric-wrap transmission that provides a variable mechanical advantage, keeping a small electric motor near its peak power output through the stroke while bracing the long, lightweight leg against buckling. A balancing module at the top of the leg uses small propellers to control the leg's orientation on the ground and in the air, where the long leg provides a large moment arm for the control torques. The robot is validated outdoors with vertical jumps, attitude control on the ground and in flight, and tilted jumps.

Robotics (cs.RO)

arXiv:2609.30530 [cs.RO]

(or arXiv:2609.30530v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.30530 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.

Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.

Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.