Science Robotics· 2026Q1
System design of the Ultra Mobility Vehicle: A driving, balancing, and jumping bicycle robot
- 1citations
- Q1SCImago
- 2026year
Short summary
A 23.5kg bicycle robot (UMV) achieves high speeds (8 m/s) and 1-meter jumps using a novel spatial linkage and deep reinforcement learning for dynamic maneuvers like track stands, wheelies, and hopping.
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Key points
- The Ultra Mobility Vehicle (UMV) is a 23.5kg robotic bicycle designed for dynamic movement.
- It utilizes a novel spatial linkage topology optimized for jumping and single-wheel balancing.
- Deep reinforcement learning enables zero-shot transfer of complex behaviors like track stands, wheelies, and hopping.
- The UMV reaches speeds of 8 m/s and can jump 1-meter-tall obstacles.
AI-generated from the title and abstract; the full text is not read.
Abstract
Trials cyclists and mountain bike riders can hop, jump, balance, and drive on one or both wheels. This versatility allows them to achieve speed and energy efficiency on smooth terrain and agility over rough terrain. Inspired by these athletes, we present the design and control of a robotic platform, Ultra Mobility Vehicle (UMV), that combines a bicycle and a reaction mass to move dynamically with minimal actuated degrees of freedom. We used a simulation-driven design optimization process to synthesize a spatial linkage topology with a focus on vertical jump height and momentum-based balancing on a single wheel contact. Using a deep reinforcement learning (RL) framework, we demonstrate zero-shot transfer of diverse athletic behaviors, including track stands, jumps, wheelies, rear-wheel hopping, and front flips. This 23.5-kilogram robot is capable of high speeds ( v max = 8 meters per second) and jumping on and over large obstacles (1-meter tall or 130% of the robot’s nominal height).
The authors' abstract, as published at the source. Science Robotics, 2026 · DOI ↗
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Field: Control and Systems Engineering
Control and Systems EngineeringEngineering