Miscellaneous

Sarcoman Robot from Sarcos Robotics juggling.

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A bouncing ball can teach us a lot about hopping (and running). Both have a flight phase and periods of ground contact during which they change the direction of vertical travel. Changing the angle of the paddle at which the ball hits it will affect the speed of the ball the same way the changing slope of the ground underneath a hopping robot or animal. In which direction would the angle have to change to increase the speed of a hopping robot?

"Distributed Real-Time Control of a Spatial Robot Juggler"

by Alfred A. Rizzi, Yale University
Louis L. Whitcomb, Yale University
Daniel E. Koditschek, University of PennsylvaniaFollow

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This video accompanies the paper "Robotic Contact Juggling" by J. Zachary Woodruff and Kevin M. Lynch, Feb. 2021.
Open source code examples: github.com/zackwoodruff/rolling_dynamics

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