
Welcome to the student project Ascento, the agile jumping robot. We are happy to announce that this project has been continued and is in the pre start-up phase


The Two-Wheeled Jumping Robot
Find out more by looking at the official Ascento papers published at ICRA 2019 (video) and ICRA 2020 (video)
We also got a new website. Go check it out at www.ascento.ch
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 PLA12 nylon. 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.
News
Check out what we're up to
The Team
Meet the brains behind the project

Lionel Gulich

Victor Klemm

Dominik Mannhart

Alessandro Morra
