A miniature 7g jumping robot

Jumping can be a very efficient mode of locomotion for small robots to overcome large obstacles and travel in natural, rough terrain. In this paper we present the development and characterization of a novel 5cm, 7g jumping robot. It can jump obstacles as high as more than 27 times its own size and outperforms existing jumping robots with respect to jump height per weight and jump height per size. It employs elastic elements in a four bar linkage leg system to allow for very powerful jumps and adjustment of jumping force, take off angle and force profile during the acceleration phase.