Demonstration (200*):
The riser is 20 cm.
Hop simulation which can jump over cables or something:
Blue and red curves show the trajectories of upper and lower bodies, respectively. From the red curve after the landing, we can see that there was no impact.
Challenge! 27cm-riser jump:
This robot, 2-DOF spring-mass system, vibrated three times during a hop.
Climbing down ( by Kobayashi 2013):
During takeoff, it is difficult to control the attitude because the front wheels lose the reaction from the floor first. Zero-impact landing is achieved in the condition that the attitude is correct.
m1:1.1kg, m2:2.25kg, k=1200 N/m, h:0.11 m
Continuous climbing:
m1:2.5kg,m2:1.2kg,h:0.12m,k:2000N/m