SUMMARYInspired 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.

Substructuring and component mode synthesis (CMS), is a very popular method of model reduction for large structural dynamics problems. Starting from the pioneering works on this technique in the early 1960s, many researchers have studied and used this technique in a variety of applications. Besides model reduction, CMS offers several other crucial advantages. The present work aims to provide a review of the available literature on this important technique.

Piezoceramic materials exhibit different types of nonlinearities under different combinations of electric and mechanical fields. When excited near resonance in the presence of weak electric fields, they exhibit typical nonlinearities similar to a Duffing oscillator such as jump phenomena and presence of superharmonics in the response spectra. In order to model such nonlinearities, a nonlinear electric enthalpy density function (using quadratic and cubic terms) valid for a general 3-D piezoelectric continuum has been proposed in this work. Linear (i.e. proportional) and nonlinear damping models have also been proposed. The coupled nonlinear finite element equations have been derived using variational formulation. The classical linearization technique has been used to derive the linearized stiffness and damping matrices which helps in assembling the nonlinear matrices and solution of resulting nonlinear equation. The general 3-D finite element formulation is discussed in this paper. In a companion paper by Samal et al., numerical results on various typical examples are shown to match very well with the experimental observations.

No abstract

No abstract