Single-legged hopping robotics research — A review: A review

Authors:
Ajij Sayyad;B. Seth;P. Seshu
Affiliations:
Systems and Control Engineering, IIT Bombay, Mumbai-400 076, India;Department of Mechanical Engineering, IIT Bombay, Mumbai-400 076, India;Department of Mechanical Engineering, IIT Bombay, Mumbai-400 076, India
Venue:
Robotica
Year:
2007

Citing 14
Cited 4

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An “interesting” strange attractor in the dynamics of a hopping robot

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Vertical and horizontal motion control of a one-legged hopping machine

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Passive Dynamic Running

The First International Symposium on Experimental Robotics I
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The bow leg hopping robot
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IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

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ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
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PerMIS '09 Proceedings of the 9th Workshop on Performance Metrics for Intelligent Systems
Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL

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Design, development and control of a hopping machine --an exercise in biomechatronics

Applied Bionics and Biomechanics

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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.