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TECHNICAL BRIEFS

Search for Initial Conditions for Sustained Hopping of Passive Springy-Leg Offset-Mass Hopping Robot

[+] Author and Article Information
B. Seth1

Department of Mechanical Engineering,  Indian Institute of Technology Bombay, Mumbai-400076, Indiasethbharat@gmail.com

P. Seshu, V. V. Vichare, P. Raj

Department of Mechanical Engineering,  Indian Institute of Technology Bombay, Mumbai-400076, India

P. V. Shanmuganathan

School of Mechanical & Building Sciences,  VIT University, Vellore-632014, India

1

Corresponding author.

J. Dyn. Sys., Meas., Control 129(4), 522-526 (Jan 29, 2007) (5 pages) doi:10.1115/1.2745860 History: Received January 19, 2004; Revised January 29, 2007

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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Copyright © 2007 by American Society of Mechanical Engineers
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References

Figures

Grahic Jump Location
Figure 2

Snapshots of SLOM hopper for release velocity of 2m∕s

Grahic Jump Location
Figure 3

Snapshots of SLOM hopper for release velocity of 1m∕s

Grahic Jump Location
Figure 4

Snapshots of the SLOM Hopper motion (with release velocity 1.009743m∕s)

Grahic Jump Location
Figure 5

Progress of GA-based search for suitable initial conditions

Grahic Jump Location
Figure 1

The Springy Leg Offset Mass (SLOM) Hopper

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