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Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity

Ambrose, Eric and Ames, Aaron D. (2020) Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity. In: 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 2457-2463. ISBN 978-1-7281-7395-5.

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Robotic Hopping is challenging from the perspective of both modeling the dynamics as well as the mechanical design due to the short period of ground contact in which to actuate on the world. Previous work has demonstrated stable hopping on a moving-mass robot, wherein a single spring was utilized below the body of the robot. This paper finds that the addition of a spring in parallel to the actuator greatly improves the performance of moving mass hopping robots. This is demonstrated through the design of a novel one-dimensional hopping robot. For this robot, a rigorous trajectory optimization method is developed using hybrid systems models with experimentally tuned parameters. Simulation results are used to study the effects of a parallel spring on energetic efficiency, stability, and hopping effort. We find that the double-spring model had 2.5x better energy efficiency than the single-spring model, and was able to hop using 40% less peak force from the actuator. Furthermore, the double-spring model produces stable hopping without the need for stabilizing controllers. These concepts are demonstrated experimentally on a novel hopping robot, wherein hop heights up to 40cm were achieved with comparable efficiency and stability.

Item Type:Book Section
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URLURL TypeDescription Paper
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2020 IEEE. This work was supported by Disney Research and Development.
Funding AgencyGrant Number
Disney Research and DevelopmentUNSPECIFIED
Record Number:CaltechAUTHORS:20200109-094355426
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Official Citation:E. Ambrose and A. D. Ames, "Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity," 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020, pp. 2457-2463, doi: 10.1109/ICRA40945.2020.9197070
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:100586
Deposited By: Tony Diaz
Deposited On:09 Jan 2020 18:02
Last Modified:16 Nov 2021 17:55

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