||In this thesis, based on wheeled- robot, we installed a jumping device on the robot such that the robot can move fast and stably, and jump over obstacle when obstacles exist. The jumping function has improved the mobility of traditional land-based robot. At the structure aspect, we also designed a six-rod spring-hopping mechanism, this mechanism can jump with different heights corresponding to deferent compressions. In addition, we designed a four-link mechanism for the connection between the spring and wheels, such that the spring compression mechanism can interlock wheels to have a nice jumping elevation angle for the robot. We used 3D printer to print out the robot body, because the elastic plastic can absorb the impact when the robot drops to the ground without broken. In control aspect, smart phones or laptop with blue-tooth is used to remote control the robot to execute the commands such as forward, backward, turning and jumping. Utilizing the 10-axis MEMS sensor, the elevation angle, angular velocity change and azimuth of the robot can be measure. When the robot moves direction is incorrect, the orientation can be adjusted autonomously. If the robot moves fast, it may turnover. Therefore, the fuzzy control is used to maintain the stability of the moving attitude. When the robot stops suddenly, the robot will turnover definitely, but it can recover its attitude immediately. The experimental results show that the robot has successful moving and jumping functions because of our special design and fabrication.|
|| M. Kovac, M. Schlegel, J. Zufferey, and D. Floreano, “Steerable miniature jumping robot,” Autonomous Robots, vol. 28, no. 3, pp. 295-306, 2010. |
 M. Kovac, M. Fuchs, A. Guignard, J. C. Zufferey, and D. Floreano, “A miniature 7g jumping robot,” in Proc. 2008 IEEE Int. Conf. Robotics and Automation, ICRA, Pasadena, CA, pp. 373-378, May 2008.
 U. Scarfogliero, C. Stefanini, and P. Dario, “Design and development of the long-jumping ”grillo” mini robot,” in IEEE International Conference on Robotics and Automation, 2007, pp. 467–472.
 B. G. A. Lambrecht, A. D. Horchler, and R. D. Quinn, “A small, insect-inspired robot that runs and jumps,” in International Conference on Robotics and Automation, 2005, pp. 1240– 1245.
 R. Armour, K. Paskins, A. Bowyer, J. F. V. Vincent, and W. Megill,“Jumping robots: a biomimetic solution to locomotion across rough terrain,” Bioinspiratoin and Biomimetics Journal, vol. 2, pp. 65–82, 2007.
 H. T. Sun, G. M. Song, J. Zhang, Z. Li, Y. J. Yin, A. C. Shao, J. Y. Zhan, M. J. Xu, and Z. Zhang, ”Design of a tumbling robot that jumps and tumbles for rough terrain”, in IEEE Int. Conf. on Ind. Electron., Taipei, May, 2013, pp.1-6.
 M. A. Woodward and M. Sitti, “Design of a miniature integrated multi-modal jumping and gliding robot,” IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, Sep., 2011, pp. 556-561.
 J. Burdick and P. Fiorini,“Minimalist jumping robots for celestial exploration,” International Journal of Robotics Research, vol. 22, no. 7, pp. 653-674, 2003.
 D. H. Kim, D. S. Kim, D. S. Choi, B. H. Lee, D. H. Yoon, and C. H. Yim, “ Mechanism design and autonomous movement and jump control for a jumping robot,” International Conference on Control, Automation and Systems, Gyeonggido, Korea, pp. 290-293, Oct. 2010.
 S. A. Stoeter, P. E. Rybski, and N. Papanikolopoulos, “Autonomous stair-hopping with scout robots,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 1, 2002, pp. 721–726.
 H. Tsukagoshi, M. Sasaki, A. Kitagawa, and T. Tanaka, “Design of a higher jumping rescue robot with the optimized pneumatic drive,” in IEEE International Conference on Robotics and Automation, 2005, pp. 1276–1283.
 Boston Dynamics Sand Flea首頁，http://www.bostondynamics.com/robot_sandflea.html，2014年3月10號。
 Parrot Jumping Sumo 首頁，
 App inventor 中文學習網首頁，