The bow leg hopper is a new design for a locomoting system with a resilient, flexible leg. It features a passive stance phase and natural pitch stability. It is controlled with ac...
The bow leg hopper is a novel locomotor design with a highly resilient leg that resembles an archer's bow. During flight, a "thrust" actuator adds elastic energy to...
Abstract In legged systems, springy legs facilitate gaits with subsequent contact and flight phases. Here, we test whether electrical motors can generate leg behaviors suitable for...
We describe a model-based height controller for a hopping robot with a pneumatically powered leg. The controller explicitly models variation in the leg angle and height. Using an ...
Intelligent controllers are being used with increasing effectiveness on complex systems. This work verifies the effectiveness of fuzzy control, an intelligent method, on a sing...
Luther R. Palmer, David E. Orin, Duane W. Marhefka...