Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity
Eric Ambrose,Aaron D. Ames,Eric Ambrose,Aaron D. Ames
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 actuato...
