Kinematic motion model for jumping scout robots

Sascha A. Stoeter, Nikolaos Papanikolopoulos

Research output: Contribution to journalArticlepeer-review

53 Scopus citations


The University of Minnesota's Scout is a small cylindrical robot capable of rolling and jumping. Models describing the robot's motion are developed. These models can be employed for motion prediction and simulation. The results suggest that the determining factor of the Scout's behavior is the length of the winch cable.

Original languageEnglish (US)
Pages (from-to)397-402
Number of pages6
JournalIEEE Transactions on Robotics
Issue number2
StatePublished - Apr 2006

Bibliographical note

Funding Information:
Manuscript received February 25, 2005; revised September 23, 2005. This paper was recommended for publication by Associate Editor L. Whitcomb and Editor F. Park upon evaluation of the reviewers’ comments. This work was supported in part by Microsoft Corporation, in part by the National Science Foundation under Grants CNS-0224363 and CNS-0324864, and in part by the Defense Advanced Research Projects Agency (DARPA), Microsystems Technology Office (Distributed Robotics), ARPA Order G155, Program Code 8H20, issued by DARPA/CMD under Contract #MDA972-98-C-0008. This paper was presented in part at the IEEE International Conference on Robotics and AutomationTaipei, Taiwan, R.O.C.September2003.


  • Jumping
  • Miniature robotics
  • Mobile robot kinematics
  • Rolling


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