Tumbler

This machine is no more than a little car where its two wheels are equipped with compliant leg-like spokes. The compliant spokes lead to a jumping natural frequency for the car which can be excited when car travels. This jumping behavior of the car allows the car to pass uneven terrains easier than the car without any spokes. Driving the car at a speed to excite the car natural frequency also leads to less power consumption which yields longer mission time. One of the drawbacks of this car is that the spokes get stuck in dirt some times.



The video below compares the machine behavior at two situations with or without spokes.


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