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Please use this identifier to cite or link to this item: http://dspace.library.iitb.ac.in/jspui/handle/100/3117

Title: Single-legged hopping robotics research - a review
Authors: SAYYAD, A
SETH, B
SESHU, P
Issue Date: 2007
Publisher: CAMBRIDGE UNIV PRESS
Citation: ROBOTICA,25,587-613
Abstract: 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.
URI: http://dx.doi.org/10.1017/S0263574707003487
http://dspace.library.iitb.ac.in/xmlui/handle/10054/13914
http://hdl.handle.net/100/3117
ISSN: 0263-5747
Appears in Collections:Review

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