Search for initial conditions for sustained hopping of passive springy-leg offset-mass hopping robot
DSpace at IIT Bombay
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Title |
Search for initial conditions for sustained hopping of passive springy-leg offset-mass hopping robot
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Creator |
SETH, B
SESHU, P SHANMUGANATHAN, PV VICHARE, VV RAJ, P |
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Subject |
hopping robot
passive dynamics offset-mass sustained hopping |
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Description |
A springy-leg, offset-mass or SLOM hopper configuration is considered here, wherein the center of gravity of the body is offset from the line of action of spring force. It is observed that this feature tends to extend the passive hopping motion. A heuristics-based search strategy and a genetic algorithm-based search strategy are implemented for finding the initial conditions that result in extended hopping motion.
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Publisher |
ASME-AMER SOC MECHANICAL ENG
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Date |
2011-07-18T19:03:37Z
2011-12-26T12:50:46Z 2011-12-27T05:36:51Z 2011-07-18T19:03:37Z 2011-12-26T12:50:46Z 2011-12-27T05:36:51Z 2007 |
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Type |
Article
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Identifier |
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 129(4), 522-526
0022-0434 http://dx.doi.org/10.1115/1.2745860 http://dspace.library.iitb.ac.in/xmlui/handle/10054/5027 http://hdl.handle.net/10054/5027 |
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Language |
en
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