The adelopod tumbling robot

Brett Hemes, Nikolaos Papanikolopoulos, Barry O’Brien

Research output: Contribution to journalConference articlepeer-review

8 Scopus citations


The desire for a high mobility-to-size ratio in mobile robots has led to the exploration of many new methods of locomotion, one of which is tumbling. We believe that tumbling has a great potential to produce high mobility-to-size ratios in miniature mobile robots. In this paper we discuss tumbling locomotion and introduce the Adelopod, a small two-armed tumbling robot recently developed at the University of Minnesota Center for Distributed Robotics. The Adelopod achieves high mobility with low hardware complexity, making it a desirable addition to any heterogeneous team of robots.

Original languageEnglish (US)
Article number5152211
Pages (from-to)1583-1584
Number of pages2
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 2009
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: May 12 2009May 17 2009

Bibliographical note

Funding Information:
ACKNOWLEDGEMENTS This work has been supported in part by National Science Foundation through grants #IIS-0219863, #CNS-0224363, #CNS-0324864, #CNS-0420836, #IIP-0443945, #IIP-0726109, and #CNS-0708344.

Publisher Copyright:
© 2009 IEEE


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