Exploring lift-off dynamics in a jumping robot

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.

Department dc:contributor.department

Mechanical Engineering

Grantor dc:publisher

Georgia Institute of Technology

Year dc:date.issued

2012

Author dc:creator

• Aguilar, Jeffrey Jose

Advisors dc:contributor.advisor

• Goldman, Daniel I.
• Lipkin, Harvey

Committee member dc:contributor.committeemember

• Alexeev, Alexander

• Robot
• Jumping
• Dynamics

Handle dc:identifier.uri

http://hdl.handle.net/1853/45961

OAI identifier oai:identifier

oai:repository.gatech.edu:1853/45961