Using the variable damping on a VSA (Variable Stiffness Actuator) can improve the energy efficiency, especially on a highly dynamic robots. This project aims to exploit that effect on a vertical jumping robot based on the MACCEPA-VD (The Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator with Variable Damping)
The simulation files are written in MATLAB. To run the simulation execute the following file:
- ./Simulations/maccepaHopperSimulation
The 3D CAD files with .step extension are provided in:
- /hardware/Model/STEPFiles
The assembled model with and without the vertical stand are given in:
- /hardware/Model/Assembled