{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,4]],"date-time":"2026-08-04T18:43:34Z","timestamp":1785869014599,"version":"3.56.0"},"reference-count":22,"publisher":"SAGE Publications","issue":"7-8","license":[{"start":{"date-parts":[[2003,7,1]],"date-time":"2003-07-01T00:00:00Z","timestamp":1057017600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2003,7]]},"abstract":"<jats:p>In this paper we describe a novel approach to the design and deployment of small and minimally actuated jumping or hopping robots that are suitable for exploring the unstructured terrains of celestial bodies. We introduce the basic jumping mobility paradigm, as well as the evolution of our hopping robot concept by way of the main prototypes that we have developed. These prototypes show that a small number of actuators can control the vehicle's steering, hopping, and self-righting motions. The last prototype is equipped with wheels so that precision motion can be combined with gross hopping motion. Lessons learned during the development of these prototypes have general applicability to the design of jumping robots. In addition to reviewing the issues relevant to the design of jumping systems, in this paper we describe some of the key mechanisms that enable our approach, we summarize tests obtained with these systems, and we present our future plans of localization and sensing for hopping mobility.<\/jats:p>","DOI":"10.1177\/02783649030227013","type":"journal-article","created":{"date-parts":[[2003,8,27]],"date-time":"2003-08-27T00:43:34Z","timestamp":1061945014000},"page":"653-674","source":"Crossref","is-referenced-by-count":155,"title":["Minimalist Jumping Robots for Celestial Exploration"],"prefix":"10.1177","volume":"22","author":[{"given":"Joel","family":"Burdick","sequence":"first","affiliation":[{"name":"Mechanical Engineering California Institute of Technology Pasadena,                        California 91125"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Paolo","family":"Fiorini","sequence":"additional","affiliation":[{"name":"Dipartimento di Informatica Universit\u00e1 di Verona Verona, Italy 37134"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2003,7,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/2.30717"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066475"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1109\/70.704235"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1109\/70.897794"},{"key":"atypb5","unstructured":"Bicchi, A., Balluchi, A., Prattichizzo, D., and Gorelli, A. May 1997. Introducing the sphericle: An experimental testbed for research and teaching in nonholonomy . In IEEE International Conference on Robotics and Automation, San Diego, CA."},{"key":"atypb6","unstructured":"Budenske, J. R., Dvorak, M., Gini, M., Krantz, D. G., Li, P. Y., Malver, F., Nelson, B., Papanikolopoulos, N., Rybski, P. E., Stoeter, S. A., Voyles, R., and Yesin, K. B. April 2000. A miniature robotic system for reconnaissance and surveillance . In IEEE International Conference on Robotics and Automation, San Francisco, CA, pp. 501-507 ."},{"key":"atypb7","doi-asserted-by":"crossref","unstructured":"De Luca, A., and Oriolo, G. May 1998. Stabilization of the Acrobot via iterative state steering . In IEEE International Conference on Robotics and Automation, Leuven, Belgium, pp. 3581-3587 .","DOI":"10.1109\/ROBOT.1998.681023"},{"key":"atypb8","doi-asserted-by":"crossref","unstructured":"Fiorini, P., Hayati, S., Heverly, M., and Gensler, J. March 1999. A hopping robot for planetary exploration . In Proceedings of IEEE Aerospace Conference, Snowmass, CO.","DOI":"10.1109\/AERO.1999.793156"},{"key":"atypb9","doi-asserted-by":"crossref","unstructured":"Hauser, J., and Murray, R. M. 1990. Nonlinear controllers for non-integrable systems: the Acrobot example . In American Control Conference, pp. 669-671 .","DOI":"10.23919\/ACC.1990.4790817"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.2514\/3.29727"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1177\/027836499101000601"},{"key":"atypb12","doi-asserted-by":"crossref","unstructured":"Li, Z., and Montgomery, R. 1990. Dynamics and optimal control of a legged roboti in flight phase . In IEEE International Conference on Robotics and Automation, Cincinnati, OH, May, pp. 1816-1821 .","DOI":"10.1109\/ROBOT.1990.126272"},{"key":"atypb13","unstructured":"Lorigo, L., Paul, C., Brooks, R., McLurkin, J., and Moy, M. 1997. Autonomy for Mars exploration . In Workshop on Planetary Rovers at IROS'97, Grenoble, France, 7-11 September."},{"key":"atypb14","unstructured":"Mishkin, A., Morrison, J., Nguyen, T., Stone, H., and Cooper, B. 1998. Operations and autonomy of the Mars Pathfinder Microrover . In IEEE Aerospace Conference."},{"key":"atypb15","unstructured":"Oberth, J. 1959. The Moon Car, Harper and Brothers, New York ."},{"key":"atypb16","doi-asserted-by":"crossref","unstructured":"Raibert, M. H. 1986. Legged Robots that Balance, MIT Press, Cambridge, MA .","DOI":"10.1109\/MEX.1986.4307016"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1177\/027836499301200301"},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.2514\/3.28991"},{"key":"atypb19","unstructured":"Shigley, J. E., and Mischke, C. R. 1989. Mechanical Engineering Design, McGraw-Hill, New York ."},{"key":"atypb20","doi-asserted-by":"crossref","unstructured":"Spong, M. W. February 1995. The swing up control problem for the Acrobot. IEEE Control System Magazine pp. 49-55.","DOI":"10.1109\/37.341864"},{"key":"atypb21","unstructured":"Volpe, R. August 1999. Personal communication."},{"key":"atypb22","unstructured":"Welch, R., Wilcox, B., and Nasif, A. 1998. Nanorover for Mars . Space Technology 17(3-4): 163-172 ."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649030227013","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649030227013","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:17:00Z","timestamp":1777457820000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/02783649030227013"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2003,7]]},"references-count":22,"aliases":["10.1177\/027836403128965204"],"journal-issue":{"issue":"7-8","published-print":{"date-parts":[[2003,7]]}},"alternative-id":["10.1177\/02783649030227013"],"URL":"https:\/\/doi.org\/10.1177\/02783649030227013","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2003,7]]}}}