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Advancements in Hopping Robot Design for Improved Foot Placement on Rough Terrain

This presentation by Jawaad Bhatti, AR Plummer, and P. Iravani at the UKACC PhD Presentation Showcase explores the development of a springy-legged hopping robot focused on optimizing foot placement during traversal of rough terrain. Building upon historical work in one-legged hopping from the 1980s, the team employs controlled passive dynamics and advanced actuation techniques to enhance height, orientation, and velocity control. Experimental results and future directions aim to achieve precise 3D foot placement, validated through rigorous testing.

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Advancements in Hopping Robot Design for Improved Foot Placement on Rough Terrain

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Presentation Transcript

  1. Platform hopping robots Jawaad Bhatti MN Sahinkaya, AR Plummer, P Iravani University of Bath UKACC PhD Presentation Showcase

  2. Introduction • Aim: foot placement while running/hopping • Motivation: rough terrain traversal • Inspiration: animal locomotion UKACC PhD Presentation Showcase

  3. Existing work • One-legged hopping achieved in 1980s • Researchers mainly focussed on stabilising steady running UKACC PhD Presentation Showcase

  4. Overall approach • Controlled passive dynamics • Model and build robot as springy legged hopper • Use actuation to control height, orientation and velocity UKACC PhD Presentation Showcase

  5. Experimental work UKACC PhD Presentation Showcase

  6. Experimental results UKACC PhD Presentation Showcase

  7. Simulation work UKACC PhD Presentation Showcase

  8. Future work • Develop method to achieve foot placement in 3D robot • Validate methods experimentally UKACC PhD Presentation Showcase

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