Indoor Mobility Robot

The Two-Wheeled Jumping Robot

A compact and agile jumping robot designed for indoor environments. The combination of wheels and legs allows it to move quickly on flat terrain and to overcome obstacles by jumping. Its small form factor renders it fit for tight indoor spaces and shows potential for high agile indoor mobility tasks.

Find out more by looking at the official Ascento paper published at ICRA 2019 and its corresponding video

10.4 kg

Total Weight

1.5 h

Operation Time

0.4 m

Max. Jumping Height

8.0 km/h

Max. Velocity

Control

3D Mouse and Gesture Control

Cameras

Vision Algorithms for Autonomy

About Ascento

Jumping and Fall Recovery

The combination of springs and high torque motors enables the robot to overcome stairs and other obstacles by jumping. In addition to jumping, Ascento is able to recover from a fall and enter different resting positions.

Topology Optimized Parts

All structural parts are topology optimized and 3D printed out of PLA plastic. This reduces the overall mass for more efficient jumping without compromising durability and robustness of the parts.

Robust Stabilizing Controller

A model based control algorithm keeps the system stable and robust at all time. Additionally, a jump controller and a fall recovery controller are implemented separately.

Optimized Leg Geometry

An optimized 3-bar leg geometry decouples driving from jumping tasks and provides a simple way to extract both legs individually. Torsional springs counteract the robot's own weight increasing overall efficiency and jumping height.

Custom Wheel Motors

The Ascento robot has a custom wheel hub motor assembly with frameless motors. This provides a near-zero backlash and high wheel torques for smooth driving and to counteract high disturbances of the robot's tilt angle.

Vision and Autonomy

Using various cameras and sensors, Ascento is able to create a 3D map of its surroundings. Together with vision and path planning algorithms, it can drive completely autonomously and thereby discovers its environment.

The Team

Meet the brains behind the project

Lionel Gulich

Lionel Gulich

lgulich@ethz.ch

Victor Klemm

Victor Klemm

vklemm@ethz.ch

Victor Klemm

Dominik Mannhart

dominikm@ethz.ch

Victor Klemm

Alessandro Morra

morraa@ethz.ch

Victor Klemm

Ciro Salzmann

sciro@ethz.ch

Victor Klemm

Florian Weber

flweber@ethz.ch

History

The Ascento project started as a Focus Project at ETH Zurich where students in their last year of their Bachelor's degree have the chance to apply their gained knowledge and skills in a real engineering project. The Focus Project team composed of 8 Mechanical Engineering students and 1 Electrical Engineering student developed the Ascento robot from September 2017 to May 2018.

Lionel Gulich

Lionel

Gulich

lgulich@ethz.ch

Victor Klemm

Victor

Klemm

vklemm@ethz.ch

Victor Klemm

Nicola

Küng

nkueng@ethz.ch

Victor Klemm

Dominik

Mannhart

dominikm@ethz.ch

Victor Klemm

Alessandro

Morra

morraa@ethz.ch

Victor Klemm

Corentin

Pfister

cpfister@ethz.ch

Victor Klemm

Ciro

Salzmann

sciro@ethz.ch

Victor Klemm

Marcus

Vierneisel

vmarcus@ethz.ch

Victor Klemm

Florian

Weber

flweber@ethz.ch

Our Partners

This project would have not been possible without their generous help

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