Vertical hopper manufacturable debug why high freq is preferred

[avikde]

Need to make this more interesting:

• leg linkage? to show evolving leg shape
• as a function of actuator mass?

Originally posted by @avikde in #82 (comment)

[avikde]

Leg linkage - use polynomial transmission in the optim instead

[avikde]

Design performance plot

Unlike flapping, where higher frequencies -> higher drag -> automatically a force limit, here higher frequencies don't cause a force limit as easily. Have not added any kind of power limit, and unlike EM actuators, no "motor model".

[avikde]

Should be able to couple scaleTraj/frequency with some parameterization of the "swing" part of the traj since if we know the LO height, we know how long it will take to recirculate the leg.

For writing this: make a "point mass template" force only when z < zLO (SLIP) and swing is something simple like a sine with period that can be parameterized by scaleTraj/freq.

[avikde]

Following on from #109

dt=0.4 (from before) st 0.56: 0, [17.67 48.822 4.882 33.235 0.4], fHz=25.0, u∞=77.5, J=31200.3

This is the components plot at dt=0.2 st 0.56: 0, [17.61 196.53 19.653 35.22 0.2], fHz=50.0, u∞=42.5, J=127988.1

[avikde]

This doesn't seem to make sense -- lower force? what is balancing the damping???

could this be related to errors in the first-order discretization?

[avikde]

Duplicate of #132