This paper presents models and solutions to improve energy efficiency in spring-driven jumping robots. Previous designs focused on optimizing jump height but were unable to reach maximum potential due to premature take-off – the robot jumps before all the spring energy is released. The paper attributes inefficient energy conversion to inertial effects caused by rotational and unsprung masses. The proposed solution involves a structural redesign to reduce mass and inertia while complying with strength and stiffness requirements.
Publication date: 10 Jan 2024
Project Page: https://arxiv.org/abs/2401.05554
Paper: https://arxiv.org/pdf/2401.05554
