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Single-legged hopping robotics research—A review

Published online by Cambridge University Press:  01 September 2007

Ajij Sayyad ,
B. Seth  and
P. Seshu
Ajij Sayyad*
Affiliation:
Systems and Control Engineering, IIT Bombay, Mumbai-400 076, India
B. Seth
Affiliation:
Department of Mechanical Engineering, IIT Bombay, Mumbai-400 076, India
P. Seshu
Affiliation:
Department of Mechanical Engineering, IIT Bombay, Mumbai-400 076, India
*
*Corresponding author. E-mail: sayyad@sc.iitb.ac.in
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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.

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Type
Article
Information
Robotica , Volume 25 , Issue 5 , September 2007 , pp. 587 - 613
Copyright
Copyright © Cambridge University Press 2007

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