Please use this identifier to cite or link to this item: http://dspace.library.iitb.ac.in/xmlui/handle/10054/5027
Title: Search for initial conditions for sustained hopping of passive springy-leg offset-mass hopping robot
Authors: SETH, B
SESHU, P
SHANMUGANATHAN, PV
VICHARE, VV
RAJ, P
Issue Date: 2007
Publisher: ASME-AMER SOC MECHANICAL ENG
Citation: JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 129(4), 522-526
Abstract: 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.
URI: http://dx.doi.org/10.1115/1.2745860
http://dspace.library.iitb.ac.in/xmlui/handle/10054/5027
http://hdl.handle.net/10054/5027
ISSN: 0022-0434
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