Kovac, MirkoSchlegel, ManuelZufferey, Jean-ChristopheFloreano, Dario2009-06-212009-06-212009-06-21200910.1109/IROS.2009.5354005https://infoscience.epfl.ch/handle/20.500.14299/40744WOS:000285372900103In nature, many animals are able to jump, upright themselves after landing and jump again. This allows them to move in unstructured and rough terrain. As a further development of our previously presented 7g jumping robot, we consider various mechanisms enabling it to recover and upright after landing and jump again. After a weighted evaluation of these different solutions, we present a spherical system with a mass of 9.8g and a diameter of 12cm that is able to jump, upright itself after landing and jump again. In order to do so autonomously, it has a control unit and sensors to detect its orientation and spring charging state. With its current configuration it can overcome obstacles of 76cm at a take-off angle of 75°.Jumping RobotHybrid LocomotionFlying RobotBioinspired RoboticsAerial Roboticstext::conference output::conference proceedings::conference paper