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Search for initial conditions for sustained hopping of passive springy-leg offset-mass hopping robot

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Title Search for initial conditions for sustained hopping of passive springy-leg offset-mass hopping robot
 
Creator SETH, B
SESHU, P
SHANMUGANATHAN, PV
VICHARE, VV
RAJ, P
 
Subject hopping robot
passive dynamics
offset-mass
sustained hopping
 
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.
 
Publisher ASME-AMER SOC MECHANICAL ENG
 
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
 
Type Article
 
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
 
Language en