Record Details

Single-legged hopping robotics research - a review

DSpace at IIT Bombay

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Title Single-legged hopping robotics research - a review
 
Creator SAYYAD, A
SETH, B
SESHU, P
 
Subject motion control
running robot
machine
energy
dynamics
model
 
Description Inspired by the agility of animal and human locomotion, the number of researchers studying and developing legged robots has been increasing at a rapid rate over the last few decades. In comparison to multilegged robots, single-legged robots have only one type of locomotion gait, i.e., hopping, which represents a highly nonlinear dynamical behavior consisting of alternating flight and stance phases. Hopping motion has to be dynamically stabilized and presents challenging control problems. A large fraction of studies on legged robots has focused on modeling and control of single-legged hopping machines. In this paper, we present a comprehensive review of developments in the field of single-legged hopping robots. We have attempted to cover development of prototype models as well as theoretical models of such hopping systems.
 
Publisher CAMBRIDGE UNIV PRESS
 
Date 2011-10-14T11:54:50Z
2011-12-15T09:16:20Z
2011-10-14T11:54:50Z
2011-12-15T09:16:20Z
2007
 
Type Review
 
Identifier ROBOTICA,25,587-613
0263-5747
http://dx.doi.org/10.1017/S0263574707003487
http://dspace.library.iitb.ac.in/xmlui/handle/10054/13914
http://hdl.handle.net/100/3117
 
Language en