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Underactuated Jumping Robot
2017
This was a data-driven project that generated a set of potential distances, initial angular velocities, and launch angles in order to successfully launch and land a jumping robot. The potential sets of values that resulted in a robot that landed upright are shown in the Data Cloud on the right.
We simulated the jumping robot using a modified grid search algorithm, and verified upright landing results with the simulation here. The red dot representing the foot had to land on the 0 y-axis line. The wind-up potential energy had to reach a specific value for the momentum to launch the robot's self-weight. This is what one of the successful simulations showed.
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