2026-09-20T04:59:53Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/987662022-01-13T07:54:05Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Anette Hosoi.
Sedal, Audrey
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2015-09-17T19:10:40Z
2015-09-17T19:10:40Z
2015
2015
http://hdl.handle.net/1721.1/98766
920902306
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2015.
Cataloged from PDF version of thesis.
Includes bibliographical references (page 35).
Robots that mimic animal locomotion may be improved by the addition of compliant parts. A proposed metric for the importance of compliance in an animal gait is Ek/Ein, the ratio of the systems peak kinetic energy to the energy input into it over one gait cycle. In this project, I create an analytical model of a hopping robot and a corresponding physical prototype that will serve as an experimental platform to investigate the relationship between Ek /Ein, and jump performance. Select runs of the simulation show a positive relationship between Ek/Ein and the jump height. Qualitative observation of the physical model shows that compliant parts are able to aid in performing a successful jump.
by Audrey Sedal.
S.B.
35 pages
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Recovering elastic energy in a single-legged hopping robot
Thesis
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