Lift-off dynamics in a simple jumping robot

We study vertical jumping in a simple robot comprising an actuated mass-spring arrangement. The actuator frequency and phase are systematically varied to find optimal performance. Optimal jumps occur above and below (but not at) the robot's resonant frequency $f_0$. Two distinct jumping modes emerge: a simple jump which is optimal above $f_0$ is achievable with a squat maneuver, and a peculiar stutter jump which is optimal below $f_0$ is generated with a counter-movement. A simple dynamical model reveals how optimal lift-off results from non-resonant transient dynamics.Comment: 4 pages, 4 figures, Physical Review Letters, in press (2012

Photoproduction of Lambda(1405) and Sigma^{0}(1385) on the proton at E_\gamma = 1.5-2.4 GeV

Differential cross sections for $\gamma p \to K^+\Lambda(1405)$ and $\gamma p \to K^+\Sigma^0(1385)$ reactions have been measured in the photon energy range from 1.5 to 2.4 GeV and the angular range of $0.8<\cos(\Theta)<1.0$ for the $K^+$ scattering angle in the center-of-mass system. This data is the first measurement of the $\Lambda(1405)$ photoproduction cross section. The lineshapes of \LamS measured in $\Sigma^+\pi^-$ and $\Sigma^-\pi^+$ decay modes were different with each other, indicating a strong interference of the isospin 0 and 1 terms of the $\Sigma\pi$ scattering amplitudes. The ratios of \LamS production to \SigS production were measured in two photon energy ranges: near the production threshold ($1.5<E_\gamma<2.0$ GeV) and far from it ($2.0 <E_\gamma<2.4$ GeV). The observed ratio decreased in the higher photon energy region, which may suggest different production mechanisms and internal structures for these hyperon resonances