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Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots

Ambrose, Eric and Ma, Wen-Loong and Ames, Aaron D. (2021) Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots. In: 2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 7073-7078. ISBN 978-1-7281-9077-8. https://resolver.caltech.edu/CaltechAUTHORS:20211217-98195000

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Abstract

Robotic hopping requires high performance and precision, due to its extreme interactions with the environment. Designing a system that will perform optimally, or even stably, for this motion primitive is a significant challenge. In previous work, it was shown that designing a robot with two springs (one in series and one in parallel with the actuator) could dramatically improve performance. However, selecting these springs was an intricate process since their dynamics were tightly coupled, and accomplished through trial and error. This work presents a general optimization framework for interconnected systems that designs the time-based hopping motion, while also designing the shape of nonlinear springs on the robot to yield efficient hopping. Utilizing this method, hopping motions and spring designs were generated simultaneously and experimentally verified on a novel hopping robot.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ICRA48506.2021.9561322DOIArticle
ORCID:
AuthorORCID
Ambrose, Eric0000-0002-9479-2402
Ma, Wen-Loong0000-0002-0115-5632
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2021 IEEE. This work is supported by Disney Research and Development.
Funders:
Funding AgencyGrant Number
Disney Research and DevelopmentUNSPECIFIED
DOI:10.1109/icra48506.2021.9561322
Record Number:CaltechAUTHORS:20211217-98195000
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20211217-98195000
Official Citation:E. Ambrose, W. -L. Ma and A. D. Ames, "Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots," 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 7073-7078, doi: 10.1109/ICRA48506.2021.9561322
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:112518
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:17 Dec 2021 23:42
Last Modified:17 Dec 2021 23:42

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