Lift-off dynamics in a simple jumping robot
This work addresses the problem of understanding and optimizing jumping dynamics in simple robots, which is incremental as it builds on existing models of resonant systems.
The study investigated vertical jumping in a simple mass-spring robot by varying actuator frequency and phase to optimize performance, finding that optimal jumps occur above and below the resonant frequency, with two distinct modes identified.
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 $f_0$. Two distinct jumping modes emerge: a simple jump which is optimal above $f_0$ is achievable with a squat maneuver, and a peculiar stutter jump which is optimal below $f_0$ is generated with a counter-movement. A simple dynamical model reveals how optimal lift-off results from non-resonant transient dynamics.