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dc.contributor.authorAguilar, Jeffrey Joseen_US
dc.date.accessioned2013-01-17T22:08:04Z
dc.date.available2013-01-17T22:08:04Z
dc.date.issued2012-11-14en_US
dc.identifier.urihttp://hdl.handle.net/1853/45961
dc.description.abstractWe study vertical jumping in a simple robot comprising an actuated mass spring arrangement. The actuator frequency and phase are systematically varied to find optimal performance. Optimal jumps occur above and below (but not at) the robot's resonant frequency f0. Two distinct jumping modes emerge: a simple jump which is optimal above f0 is achievable with a squat maneuver, and a peculiar stutter jump which is optimal below f0 is generated with a countermovement. A simple dynamical model reveals how optimal lift-off results from non-resonant transient dynamics.en_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectRoboten_US
dc.subjectJumpingen_US
dc.subjectDynamicsen_US
dc.subject.lcshLocomotion
dc.subject.lcshRobots Motion
dc.subject.lcshMobile robots
dc.subject.lcshRobots Dynamics
dc.titleExploring lift-off dynamics in a jumping roboten_US
dc.typeThesisen_US
dc.description.degreeMSen_US
dc.contributor.departmentMechanical Engineeringen_US
dc.description.advisorCommittee Chair: Goldman, Daniel; Committee Co-Chair: Lipkin, Harvey; Committee Member: Alexeev, Alexanderen_US


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