A Statically Unstable Passive Hopper: Design Evolution

摘要

I have designed a sequence of gravity-powered passive-dynamic toys. These explore locomotion in general and hopping in particular. As with walking, running, crawling, etc., for animals, locomotion in these devices is a horizontal translation by means of approximately periodic patterns of motion. These toys were developed using intuitively guided trial-and-error design iteration based on live viewing, sound sequences, and review of slow motion video. A series of statically stable mechanisms is described. A progression of designs led to the central result: a monopod hopper that repeatedly hops more than 70 steps down a ramp, without conventional feedback control, fast spinning parts, or sensing means, yet unlike the previously statically stable designs, it cannot stand still stably. This free hopping was facilitated by a special mass distribution, and a spring that allowed relative translation and rotation between the body and leg. A retrospective evaluation reveals similarities to the morphology and gaits of hopping bipeds. These toys, interesting dynamical systems in any case, highlight the possibility of a significant role of mechanical structure in locomotion.