Singularity Mechanism with a Hopping Reflex

This video demonstrates how a linkage designed with a kinematic singularity in its configuration space can exhibit a hopping reflex. The machine above is powered by a single motor with no contact sensing, no open loop control, and no frequency matching. The mechanical system is designed so that the motor torque and ground impacts work in tandem to define a stable, predictable motion. The design and prototype was done by Chang Liu.