A 3D Model of One-Legged Hopping Machine |
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| Authors: | Larin V B |
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| Institution: | (1) S. P. Timoshenko Institute of Mechanics, National Academy of Sciences of Ukraine, Kiev |
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| Abstract: | The paper models the spatial motion of a hopping machine with allowance for the inertial properties of its leg. A control system is synthesized and a program trajectory is determined in view of the collision processes accompanying touchdowns. The synthesis procedure is based on optimization of periodic systems. The results from numerical simulation of the hopper's nonstationary motion are demonstrative of the high efficiency of the control system |
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| Keywords: | hopping machine Carnot's theorem periodic system |
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