Hopping dynamics

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Reuven Ballaban, Stefan Froehlich, Julien Stalla-Bourdillon

This is the website for Team Hopping Robot. As a project for our Nonlinear Dynamics and Chaos class at Georgia Tech, we examined the behavior of a hopping robot and analyzed its behavior across a large parameter space. You can view our abstracts, papers, presentation, and video of the robot in action on this website.

Abstract

The behavior of a simple hopping robot, with its motion fixed in one dimension, was analyzed. A spring was affixed to the bottom of an actuator, and the motion of the actuator was made to be sinusoidal, with varying frequencies and amplitudes of oscillation. The motion of the robot was captured using 100fps video, and the resulting behavior analyzed using various accepted techniques. The jumping robot exhibited 1-cycle, 2-cycle, 3-cycle and chaotic motion, which was mostly consistent with available models of similar systems, with important differences. Mathematical techniques are used to determine how chaotic the system is, and the bistability of different n-cycles with the same starting parameters is examined in detail.

Data

These are videos of the robot in action. In both videos, the floor is to the right, and the ceiling to the left.

A run at an oscillation frequency of 5Hz, amplitude 1212cts: <videoflash>=/qgXYBS0tZ4g&hl</videoflash>

A run at an oscillation frequency of 4Hz, amplitude 1700cts: <videoflash>=5YCju15h5BI&</videoflash>