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.

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.

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.

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.

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.