Robotic vertical jumping agility via series-elastic power modulation
Author: Haldane, D.W.; Plecnik, M.M.; Yim, J.K.; Fearing, R.S. Description: Several arboreal mammals have the ability to rapidly and repeatedly jump vertical distances of 2 m, starting from rest. We characterize this performance by a metric we call vertical jumping agility. Through basic kinetic relations, we show that this agility metric is fundamentally constrained by available actuator power. Although rapid high jumping is an important performance characteristic, the ability to control forces during stance also appears critical for sophisticated behaviors. The animal with the highest vertical jumping agility, the galago…
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