  In this paper, we present a novel rolling, jumping robot. The robot consists
of a driven pendulum mounted to a wheel in a compact, lightweight, 3D printed
design. We show that by driving the pendulum to shift the robot's weight
distribution, the robot is able to obtain significant rolling speed, achieve
jumps of up to 2.5 body lengths vertically, and clear horizontal distances of
over 6 body lengths. The robot's dynamic model is derived and simulation
results indicate that it is consistent with the rolling motion and jumping
observed on the robot. The ability to both roll and jump effectively using a
minimalistic design makes this robot unique and could inspire the use of
similar mechanisms on robots intended for applications in which agile
locomotion on unstructured terrain is necessary, such as disaster response or
planetary exploration.
