System Design of the Ultra Mobility Vehicle: A Driving, Balancing, and Jumping Bicycle Robot
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| Auteurs principaux: | , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , |
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| Format: | Preprint |
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2026
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| author | Bokser, Benjamin Gonzalez, Daniel Preston, Aaron Bahner, Alex Wollschläger, Annika Ilvonen, Arianna Eckert-Erdheim, Asa Khadke, Ashwin Hammoud, Bilal Molinaro, Dean Jenelten, Fabian Mayne, Henry Choset, Howie Bogoslavskyi, Igor Tinman, Itic Tigue, James Preisig, Jan Zheng, Kaiyu Sharma, Kenny Ang, Kim Lee, Laura Margolese, Liana Lin, Nicole Frias, Oscar Drews, Paul Boggavarapu, Ravi Burnham, Rick Zapolsky, Samuel Kim, Sangbae Biddlestone, Scott Mayorga, Sean Fahmi, Shamel Singh, Surya McCollum, Tyler Dimitrov, Velin Moyne, William Chen, Yu-Ming Farshidian, Farbod Hutter, Marco Perry, David Rizzi, Al Nelson, Gabe |
| author_facet | Bokser, Benjamin Gonzalez, Daniel Preston, Aaron Bahner, Alex Wollschläger, Annika Ilvonen, Arianna Eckert-Erdheim, Asa Khadke, Ashwin Hammoud, Bilal Molinaro, Dean Jenelten, Fabian Mayne, Henry Choset, Howie Bogoslavskyi, Igor Tinman, Itic Tigue, James Preisig, Jan Zheng, Kaiyu Sharma, Kenny Ang, Kim Lee, Laura Margolese, Liana Lin, Nicole Frias, Oscar Drews, Paul Boggavarapu, Ravi Burnham, Rick Zapolsky, Samuel Kim, Sangbae Biddlestone, Scott Mayorga, Sean Fahmi, Shamel Singh, Surya McCollum, Tyler Dimitrov, Velin Moyne, William Chen, Yu-Ming Farshidian, Farbod Hutter, Marco Perry, David Rizzi, Al Nelson, Gabe |
| contents | 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), which combines a bicycle and a reaction mass to move dynamically with minimal actuated degrees of freedom. We employ 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 constrained 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 kg robot is capable of high speeds (8 m/s) and jumping on and over large obstacles (1 m tall, or 130% of the robot's nominal height). |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_22118 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | System Design of the Ultra Mobility Vehicle: A Driving, Balancing, and Jumping Bicycle Robot Bokser, Benjamin Gonzalez, Daniel Preston, Aaron Bahner, Alex Wollschläger, Annika Ilvonen, Arianna Eckert-Erdheim, Asa Khadke, Ashwin Hammoud, Bilal Molinaro, Dean Jenelten, Fabian Mayne, Henry Choset, Howie Bogoslavskyi, Igor Tinman, Itic Tigue, James Preisig, Jan Zheng, Kaiyu Sharma, Kenny Ang, Kim Lee, Laura Margolese, Liana Lin, Nicole Frias, Oscar Drews, Paul Boggavarapu, Ravi Burnham, Rick Zapolsky, Samuel Kim, Sangbae Biddlestone, Scott Mayorga, Sean Fahmi, Shamel Singh, Surya McCollum, Tyler Dimitrov, Velin Moyne, William Chen, Yu-Ming Farshidian, Farbod Hutter, Marco Perry, David Rizzi, Al Nelson, Gabe Robotics 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), which combines a bicycle and a reaction mass to move dynamically with minimal actuated degrees of freedom. We employ 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 constrained 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 kg robot is capable of high speeds (8 m/s) and jumping on and over large obstacles (1 m tall, or 130% of the robot's nominal height). |
| title | System Design of the Ultra Mobility Vehicle: A Driving, Balancing, and Jumping Bicycle Robot |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.22118 |