{"id":{"repo_id":"gatech","oai_identifier":"oai:repository.gatech.edu:1853/45961"},"canonical_url":"https://search.dev.ndltd.org/etd/gatech/oai:repository.gatech.edu:1853/45961","repository":{"repo_id":"gatech","name":"Georgia Tech","base_url":"https://repository.gatech.edu/server/oai/request"},"display":{"title":"Exploring lift-off dynamics in a jumping robot","abstract":"We study vertical jumping in a simple robot comprising an actuated mass spring arrangement. The actuator frequency and phase are systematically varied to find optimal performance. Optimal jumps occur above and below (but not at) the robot's resonant frequency f0. Two distinct jumping modes emerge: a simple jump which is optimal above f0 is achievable with a squat maneuver, and a peculiar stutter jump which is optimal below f0 is generated with a countermovement. A simple dynamical model reveals how optimal lift-off results from non-resonant transient dynamics.","abstract_html":"We study vertical jumping in a simple robot comprising an actuated mass spring arrangement. The actuator frequency and phase are systematically varied to find optimal performance. Optimal jumps occur above and below (but not at) the robot's resonant frequency f0. Two distinct jumping modes emerge: a simple jump which is optimal above f0 is achievable with a squat maneuver, and a peculiar stutter jump which is optimal below f0 is generated with a countermovement. A simple dynamical model reveals how optimal lift-off results from non-resonant transient dynamics.","abstract_has_math":false,"creators":["Aguilar, Jeffrey Jose"],"institution":"Georgia Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Mechanical Engineering","school":null,"contributors":[],"advisors":["Goldman, Daniel I.","Lipkin, Harvey"],"committee_chairs":[],"committee_members":["Alexeev, Alexander"],"year":2012,"date_issued":"2012-11-14","date_published":"2012-11-14","updated_at":"2026-07-27T19:50:35Z","subjects":["Robot","Jumping","Dynamics"],"languages":[],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/1853/45961","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Goldman, Daniel I.","Lipkin, Harvey"]},{"key":"dc:contributor.committeemember","label":"Committee Member","values":["Alexeev, Alexander"]},{"key":"dc:contributor.department","label":"Department","values":["Mechanical Engineering"]},{"key":"dc:creator","label":"Author","values":["Aguilar, Jeffrey Jose"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2013-01-17T22:08:04Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2013-01-17T22:08:04Z"]},{"key":"dc:date.issued","label":"Date","values":["2012-11-14"]},{"key":"dc:publisher","label":"Institution","values":["Georgia Institute of Technology"]},{"key":"dc:type","label":"Dc Type","values":["Text"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Robot","Jumping","Dynamics"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/1853/45961"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["We study vertical jumping in a simple robot comprising an actuated mass spring arrangement. The actuator frequency and phase are systematically varied to find optimal performance. Optimal jumps occur above and below (but not at) the robot's resonant frequency f0. Two distinct jumping modes emerge: a simple jump which is optimal above f0 is achievable with a squat maneuver, and a peculiar stutter jump which is optimal below f0 is generated with a countermovement. A simple dynamical model reveals how optimal lift-off results from non-resonant transient dynamics."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["MS"]},{"key":"dc:title","label":"Title","values":["Exploring lift-off dynamics in a jumping robot"]}]}],"canonical_facts":{"dc:contributor.advisor":["Goldman, Daniel I.","Lipkin, Harvey"],"dc:contributor.committeemember":["Alexeev, Alexander"],"dc:contributor.department":["Mechanical Engineering"],"dc:creator":["Aguilar, Jeffrey Jose"],"dc:date.accessioned":["2013-01-17T22:08:04Z"],"dc:date.available":["2013-01-17T22:08:04Z"],"dc:date.issued":["2012-11-14"],"dc:description.abstract":["We study vertical jumping in a simple robot comprising an actuated mass spring arrangement. The actuator frequency and phase are systematically varied to find optimal performance. Optimal jumps occur above and below (but not at) the robot's resonant frequency f0. Two distinct jumping modes emerge: a simple jump which is optimal above f0 is achievable with a squat maneuver, and a peculiar stutter jump which is optimal below f0 is generated with a countermovement. A simple dynamical model reveals how optimal lift-off results from non-resonant transient dynamics."],"dc:description.degree":["MS"],"dc:identifier.uri":["http://hdl.handle.net/1853/45961"],"dc:publisher":["Georgia Institute of Technology"],"dc:subject":["Robot","Jumping","Dynamics"],"dc:title":["Exploring lift-off dynamics in a jumping robot"],"dc:type":["Text"]},"updated_at":"2026-07-27T19:50:35Z"}