Design, optimization, and control of a new class of reconfigurable hopping rovers

Abstract

A patent-pending new class of reconfigurable battery-powered hopping rovers for reconnaissance, exploration, defense, homeland security, and entertainment applications is publicly presented for the first time. A time- periodic linear quadratic regulator for stabilization of hopping maneuvers is presented, with simulation results. Additionally, a novel mechanical design for efficient and multi-modal operation is discussed, including a lockable hopping mechanism for the directed release of gradually accumulated elastic energy, utilizing two coupled four-bar linkages in tandem with a quick- release spring device.