A Passive Hopper With Lossless Collisions

Reddy, CK and Pratap, R (2001) A Passive Hopper With Lossless Collisions. In: IUTAM Symposium on Nonlinearity and Stochastic Structural Dynamics, 85 . pp. 209-220.

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Abstract

A passive vertical hopping robot is here highly idealised as two vertically arranged masses acted on by gravity and coupled by a linear spring. The lower mass makes dead (e = 0) collisions with the rigid ground. The equations of motion can be reduced to a one dimensional map. Fixed points of the map are found in which case the robot hops incessantly. For these conservative solutions the lower mass collides with the ground with zero impact velocity. The interval of attraction for these conservative fixed points depends on system parameters.

Item Type:	Journal Article
Publication:	IUTAM Symposium on Nonlinearity and Stochastic Structural Dynamics
Publisher:	Kluwer Academic Publishers
Additional Information:	Copyright of this article belongs to Kluwer Academic Publishers.
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	02 Aug 2011 09:11
Last Modified:	02 Aug 2011 09:11
URI:	http://eprints.iisc.ac.in/id/eprint/39464

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