Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots
Eric Ambrose Wen-Loong Ma Aaron D. Ames Eric Ambrose Wen-Loong Ma Aaron D. Ames
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. Howeve...