Tunable Leg Stiffness in a Monopedal Hopper for Energy-Efficient Vertical Hopping Across Varying Ground Profiles

TL;DR

This paper introduces HASTA, a monopedal hopping robot with real-time adjustable leg stiffness, optimizing energy-efficient vertical hopping across different ground conditions through experimental and simulation studies.

Contribution

The paper presents a novel robot design with tunable leg stiffness that adapts to terrain, improving energy efficiency in hopping compared to fixed-stiffness systems.

Findings

Optimal leg stiffness varies with ground conditions.

Tunable stiffness enhances maximum hopping height.

Simulation insights aid future controller development.

Abstract

We present the design and implementation of HASTA (Hopper with Adjustable Stiffness for Terrain Adaptation), a vertical hopping robot with real-time tunable leg stiffness, aimed at optimizing energy efficiency across various ground profiles (a pair of ground stiffness and damping conditions). By adjusting leg stiffness, we aim to maximize apex hopping height, a key metric for energy-efficient vertical hopping. We hypothesize that softer legs perform better on soft, damped ground by minimizing penetration and energy loss, while stiffer legs excel on hard, less damped ground by reducing limb deformation and energy dissipation. Through experimental tests and simulations, we find the best leg stiffness within our selection for each combination of ground stiffness and damping, enabling the robot to achieve maximum steady-state hopping height with a constant energy input. These results support our hypothesis that tunable stiffness improves energy-efficient locomotion in controlled experimental conditions. In addition, the simulation provides insights that could aid in the future development of controllers for selecting leg stiffness.