Optimization of the Initial Deformed Shape of a Circular Elastic Jumping Robot

Abstract

A circular elastic robot, which can move and jump by deforming its outer shell was studied in this paper. Previous research has confirmed that the initial deformed shape of the robot significantly affects its jumping height. However, the deformed shape needed for the highest jump has not been confirmed. Our goal is to optimize the initial deformed shape of the circular elastic shell. To achieve this, first, we analyze the relationship between the jump height and the initial deformed shape using a simple model. In this paper, the circular elastic shell is a discrete model approximated to eight links and joints. The deformed shape of this discrete model is optimized, and the effect of the optimized deformed shape is discussed.