{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/98766"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/98766","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Recovering elastic energy in a single-legged hopping robot","abstract":"Robots that mimic animal locomotion may be improved by the addition of compliant parts. A proposed metric for the importance of compliance in an animal gait is Ek/Ein, the ratio of the systems peak kinetic energy to the energy input into it over one gait cycle. In this project, I create an analytical model of a hopping robot and a corresponding physical prototype that will serve as an experimental platform to investigate the relationship between Ek /Ein, and jump performance. Select runs of the simulation show a positive relationship between Ek/Ein and the jump height. Qualitative observation of the physical model shows that compliant parts are able to aid in performing a successful jump.","abstract_html":"Robots that mimic animal locomotion may be improved by the addition of compliant parts. A proposed metric for the importance of compliance in an animal gait is Ek/Ein, the ratio of the systems peak kinetic energy to the energy input into it over one gait cycle. In this project, I create an analytical model of a hopping robot and a corresponding physical prototype that will serve as an experimental platform to investigate the relationship between Ek /Ein, and jump performance. Select runs of the simulation show a positive relationship between Ek/Ein and the jump height. Qualitative observation of the physical model shows that compliant parts are able to aid in performing a successful jump.","abstract_has_math":false,"creators":["Sedal, Audrey"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Department of Mechanical Engineering.","school":null,"contributors":[],"advisors":["Anette Hosoi."],"committee_chairs":[],"committee_members":[],"year":2015,"date_issued":"2015","date_published":"2015","updated_at":"2026-07-22T22:20:52Z","subjects":["Mechanical Engineering."],"languages":["eng"],"rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission."],"rights_urls":["http://dspace.mit.edu/handle/1721.1/7582"],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/1721.1/98766","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Anette Hosoi."]},{"key":"dc:contributor.department","label":"Department","values":["Massachusetts Institute of Technology. Department of Mechanical Engineering."]},{"key":"dc:contributor.other","label":"Dc Contributor Other","values":["Massachusetts Institute of Technology. Department of Mechanical Engineering."]},{"key":"dc:creator","label":"Author","values":["Sedal, Audrey"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2015-09-17T19:10:40Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2015-09-17T19:10:40Z"]},{"key":"dc:date.issued","label":"Date","values":["2015"]},{"key":"dc:publisher","label":"Institution","values":["Massachusetts Institute of Technology"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Mechanical Engineering."]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["eng"]},{"key":"dc:rights","label":"Dc Rights","values":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission."]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://dspace.mit.edu/handle/1721.1/7582"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/1721.1/98766"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2015.","Cataloged from PDF version of thesis.","Includes bibliographical references (page 35)."]},{"key":"dc:description.abstract","label":"Abstract","values":["Robots that mimic animal locomotion may be improved by the addition of compliant parts. A proposed metric for the importance of compliance in an animal gait is Ek/Ein, the ratio of the systems peak kinetic energy to the energy input into it over one gait cycle. In this project, I create an analytical model of a hopping robot and a corresponding physical prototype that will serve as an experimental platform to investigate the relationship between Ek /Ein, and jump performance. Select runs of the simulation show a positive relationship between Ek/Ein and the jump height. Qualitative observation of the physical model shows that compliant parts are able to aid in performing a successful jump."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["S.B."]},{"key":"dc:title","label":"Title","values":["Recovering elastic energy in a single-legged hopping robot"]}]}],"canonical_facts":{"dc:contributor.advisor":["Anette Hosoi."],"dc:contributor.department":["Massachusetts Institute of Technology. Department of Mechanical Engineering."],"dc:contributor.other":["Massachusetts Institute of Technology. Department of Mechanical Engineering."],"dc:creator":["Sedal, Audrey"],"dc:date.accessioned":["2015-09-17T19:10:40Z"],"dc:date.available":["2015-09-17T19:10:40Z"],"dc:date.issued":["2015"],"dc:description":["Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2015.","Cataloged from PDF version of thesis.","Includes bibliographical references (page 35)."],"dc:description.abstract":["Robots that mimic animal locomotion may be improved by the addition of compliant parts. A proposed metric for the importance of compliance in an animal gait is Ek/Ein, the ratio of the systems peak kinetic energy to the energy input into it over one gait cycle. In this project, I create an analytical model of a hopping robot and a corresponding physical prototype that will serve as an experimental platform to investigate the relationship between Ek /Ein, and jump performance. Select runs of the simulation show a positive relationship between Ek/Ein and the jump height. Qualitative observation of the physical model shows that compliant parts are able to aid in performing a successful jump."],"dc:description.degree":["S.B."],"dc:identifier.uri":["http://hdl.handle.net/1721.1/98766"],"dc:language.iso":["eng"],"dc:publisher":["Massachusetts Institute of Technology"],"dc:rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission."],"dc:rights.uri":["http://dspace.mit.edu/handle/1721.1/7582"],"dc:subject":["Mechanical Engineering."],"dc:title":["Recovering elastic energy in a single-legged hopping robot"],"dc:type":["Thesis"]},"updated_at":"2026-07-22T22:20:52Z"}