This requires
an air tank, which we placed on top of the robot body. The robot
has weight of 3 kg and the size is 250 mm in wheel diameter,
200 mm in length, and 250 mm in height. The strength of the machine
is designed to be durable at impact for a free fall from 1 m
height. The maximum velocity of the robot is 25 cm/s and the maximum
piston rod velocity is 250 cm/s, which determines the jump
height up to 30 cm. With considering the desired jumping height of
30 cm where the robot weight is a crucial factor, and installment
space for sensors and actuators, the machine size is arrived at
250 200 250 mm size.