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Jump Dynamics. Simulation of take off Reinforced the need for hard stops on legs Inputs Joint moments Lengths Masses/CM locations Initial Angles Outputs IC’s for free flight. Jump Dynamics. Future – implement series of event detections Fix each link when it reaches 45°
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Jump Dynamics • Simulation of take off • Reinforced the need for hard stops on legs • Inputs • Joint moments • Lengths • Masses/CM locations • Initial Angles • Outputs • IC’s for free flight
Jump Dynamics • Future – implement series of event detections • Fix each link when it reaches 45° • Remove the ground constraints at each foot when the normal force is zero
Free Flight Dynamics • Simulation models free flight of tiger • IC’s needed • Angles and rate of change • Position of foot • Uses • Test different setups • Find spring force needed for return
Free Flight Dynamics • Inputs • Spring coefficient • Damping coefficients • Centers of mass • Masses • Lengths • Outputs • Distance traveled • Animation/ positioning • Time for joint return
Free Flight Animation • Future work • Adjust system parameters • Event detection • Receive IC’s from jump program
