Finding a victim buried in a snow avalanche as quickly as possible can significantly increase the victim’s survival rate. A body-pose estimation algorithm is described that quickly and efficiently estimates the victim’s pose (3D location and orientation) underneath the snow. The algorithm exploits non-parametric Bayesian estimation and considers the uncertainty in an avalanche transceiver’s magnetic-field measurement. Simulation results compare the performances between three victim-search methods: (1) naive raster-scanning search, (2) traditional industry-standard search along the measured magnetic field lines, and (3) search by the Bayesian-based technique. The results show that the Bayesian-based technique accurately determines the victim’s pose within two minutes. In contrast, the raster-scanning and magnetic-field-line following methods yield search times more than three to four times longer.
{"title":"Bayesian Estimation of Snow-Avalanche Victim Pose: A Method to Assist Human and/or Robot First Responders to Quickly Locate a Buried Victim","authors":"Joseph R. Bourne, K. Leang","doi":"10.1115/dscc2019-8946","DOIUrl":"https://doi.org/10.1115/dscc2019-8946","url":null,"abstract":"\u0000 Finding a victim buried in a snow avalanche as quickly as possible can significantly increase the victim’s survival rate. A body-pose estimation algorithm is described that quickly and efficiently estimates the victim’s pose (3D location and orientation) underneath the snow. The algorithm exploits non-parametric Bayesian estimation and considers the uncertainty in an avalanche transceiver’s magnetic-field measurement. Simulation results compare the performances between three victim-search methods: (1) naive raster-scanning search, (2) traditional industry-standard search along the measured magnetic field lines, and (3) search by the Bayesian-based technique. The results show that the Bayesian-based technique accurately determines the victim’s pose within two minutes. In contrast, the raster-scanning and magnetic-field-line following methods yield search times more than three to four times longer.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"59 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85533648","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Jake A. Steiner, Joseph R. Bourne, Xiang He, D. Cropek, K. Leang
In this paper, a decentralized chemical-source localization method is presented. In a real-world scenario, many challenges arise, including sporadic chemical measurements due to the complex interactions between the unmanned aerial vehicles (UAVs), the ambient air, and obstacles. The localization method is split into two phases: a search phase, where the agents cover the area and look for an initial chemical reading; followed by a convergence phase, where UAV agents utilize a particle swarm optimization (PSO) algorithm to locate the source of the chemical leak. The decentralized source-localization method enables a swarm of UAVs to safely travel in a complex environment and avoid obstacles and other agents while searching for the leaking source. The method is validated in simulation using realistic dynamic chemical plumes and through outdoor flight tests using a swarm of UAVs. The results demonstrate the feasibility of the approach.
{"title":"Chemical-Source Localization Using a Swarm of Decentralized Unmanned Aerial Vehicles for Urban/Suburban Environments","authors":"Jake A. Steiner, Joseph R. Bourne, Xiang He, D. Cropek, K. Leang","doi":"10.1115/dscc2019-9099","DOIUrl":"https://doi.org/10.1115/dscc2019-9099","url":null,"abstract":"\u0000 In this paper, a decentralized chemical-source localization method is presented. In a real-world scenario, many challenges arise, including sporadic chemical measurements due to the complex interactions between the unmanned aerial vehicles (UAVs), the ambient air, and obstacles. The localization method is split into two phases: a search phase, where the agents cover the area and look for an initial chemical reading; followed by a convergence phase, where UAV agents utilize a particle swarm optimization (PSO) algorithm to locate the source of the chemical leak. The decentralized source-localization method enables a swarm of UAVs to safely travel in a complex environment and avoid obstacles and other agents while searching for the leaking source. The method is validated in simulation using realistic dynamic chemical plumes and through outdoor flight tests using a swarm of UAVs. The results demonstrate the feasibility of the approach.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"53 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76624357","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Passive tuning phenomenon with a sliding mass on a vibrating beam has been observed and studied in the literature. Such a phenomenon can be extended to self-resonant energy harvesting, where the natural frequency can be favorably adjusted to the excitation frequency for enhanced energy harvesting. In this paper, we consider the nonlinear dynamic coupling of a piezoelectric clamped-clamped beam with sliding mass and study experimentally and numerically how these nonlinear interactions affect the performance of the energy harvester. We derive the mathematical model using the extended Hamilton principle. The governing equations of motion are obtained as three coupled nonlinear partial differential equations. The Galerkin method is employed to obtain a reduced order model. Our mathematical formulation is validated via experiments and the results show very good agreement between the simulation and the experiment. Parametric studies are carried out to examine how key parameters affect the performance of the energy harvester. The findings suggest that a passively tuned mechanism with a small sliding mass can increase the power output even when the excitation frequency is far off the original resonance.
{"title":"Self-Resonant Energy Harvester With a Passively Tuned Sliding Mass","authors":"Hongjip Kim, Arthur C. Smith, O. Barry, L. Zuo","doi":"10.1115/dscc2019-9000","DOIUrl":"https://doi.org/10.1115/dscc2019-9000","url":null,"abstract":"\u0000 Passive tuning phenomenon with a sliding mass on a vibrating beam has been observed and studied in the literature. Such a phenomenon can be extended to self-resonant energy harvesting, where the natural frequency can be favorably adjusted to the excitation frequency for enhanced energy harvesting. In this paper, we consider the nonlinear dynamic coupling of a piezoelectric clamped-clamped beam with sliding mass and study experimentally and numerically how these nonlinear interactions affect the performance of the energy harvester. We derive the mathematical model using the extended Hamilton principle. The governing equations of motion are obtained as three coupled nonlinear partial differential equations. The Galerkin method is employed to obtain a reduced order model. Our mathematical formulation is validated via experiments and the results show very good agreement between the simulation and the experiment. Parametric studies are carried out to examine how key parameters affect the performance of the energy harvester. The findings suggest that a passively tuned mechanism with a small sliding mass can increase the power output even when the excitation frequency is far off the original resonance.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"14 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78126911","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Plasticized polyvinyl chloride (PVC) gels are a promising material for soft robotic actuators due to their fast response rates and remarkable deformation characteristics. A variety of different actuator types can be made with PVC gels because their deformation via anodophilic creep is highly customizable by alteration of the electrode configuration, applied electric field, surface microstructure, and plasticizer content. This level of customization is not typically possible with other electroactive polymer actuators. Several attempts have been made to model PVC gel anodophilic creep actuation. Most of these have been limited in scope to particular actuator types and are phenomenological models. An accurate predictive model is necessary for the implementation and control of these actuators in the field of soft robotics, and this can be better achieved through the use of a physics-based electromechanical model. In this paper the underlying mechanisms for PVC gel actuation are discussed, and simulation results are shown. We present our finite element model which seeks to move towards a more general model for PVC gels derived from first principles. This electromechanical model is based on the Maxwell stress that is developed within the PVC gel along the anode when an electric field is applied. COMSOL Multiphysics modeling software is utilized for the simulation of PVC gel deformation when exposed to an electric potential. In addition, an experimental study of PVC gels was conducted to verify the model for mesh-type contraction actuators, and the simulated results provide context and support for the underlying mechanisms discussed.
{"title":"Modelling and Experimental Study for PVC Gel Actuators","authors":"Zachary Frank, Zakai J Olsen, T. Hwang, K. Kim","doi":"10.1115/dscc2019-9100","DOIUrl":"https://doi.org/10.1115/dscc2019-9100","url":null,"abstract":"\u0000 Plasticized polyvinyl chloride (PVC) gels are a promising material for soft robotic actuators due to their fast response rates and remarkable deformation characteristics. A variety of different actuator types can be made with PVC gels because their deformation via anodophilic creep is highly customizable by alteration of the electrode configuration, applied electric field, surface microstructure, and plasticizer content. This level of customization is not typically possible with other electroactive polymer actuators. Several attempts have been made to model PVC gel anodophilic creep actuation. Most of these have been limited in scope to particular actuator types and are phenomenological models. An accurate predictive model is necessary for the implementation and control of these actuators in the field of soft robotics, and this can be better achieved through the use of a physics-based electromechanical model.\u0000 In this paper the underlying mechanisms for PVC gel actuation are discussed, and simulation results are shown. We present our finite element model which seeks to move towards a more general model for PVC gels derived from first principles. This electromechanical model is based on the Maxwell stress that is developed within the PVC gel along the anode when an electric field is applied. COMSOL Multiphysics modeling software is utilized for the simulation of PVC gel deformation when exposed to an electric potential. In addition, an experimental study of PVC gels was conducted to verify the model for mesh-type contraction actuators, and the simulated results provide context and support for the underlying mechanisms discussed.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"41 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76371308","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This work addresses the observability properties of linear time-invariant systems that are monitored by a sensor network that provides access only to relative measurements and partial absolute observations of the state-space variables. Graph-theoretical tools are deployed to represent the information sharing links between the sensors of the network. The results are extended to multi-agent coordinated systems that are independently controlled or execute distributed control protocols. Explicit analytical conditions are derived that determine the system’s observability with respect to the spectral characteristics of the information-sharing network. The system’s observability is further investigated for multi-agent systems governed by the agreement dynamics where only a singleton measurement is available. The analysis is disseminated to the design of distributed observers where the agents have only available their relative displacement measurement from their neighbors. The distributed observer’s estimation error is rendered globally asymptotically stable by the addition of an anchor node that has access to the absolute motion of a single agent (node). The theoretical analysis is validated through numerical simulations.
{"title":"Observability of Multi-Agent Network Sensing Systems","authors":"I. Raptis, Clark N. Taylor","doi":"10.1115/dscc2019-9138","DOIUrl":"https://doi.org/10.1115/dscc2019-9138","url":null,"abstract":"\u0000 This work addresses the observability properties of linear time-invariant systems that are monitored by a sensor network that provides access only to relative measurements and partial absolute observations of the state-space variables. Graph-theoretical tools are deployed to represent the information sharing links between the sensors of the network. The results are extended to multi-agent coordinated systems that are independently controlled or execute distributed control protocols. Explicit analytical conditions are derived that determine the system’s observability with respect to the spectral characteristics of the information-sharing network. The system’s observability is further investigated for multi-agent systems governed by the agreement dynamics where only a singleton measurement is available. The analysis is disseminated to the design of distributed observers where the agents have only available their relative displacement measurement from their neighbors. The distributed observer’s estimation error is rendered globally asymptotically stable by the addition of an anchor node that has access to the absolute motion of a single agent (node). The theoretical analysis is validated through numerical simulations.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"2 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81212479","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Utilizing multiple small-sized automated guided vehicles (AGVs) in cooperatively transport large and heavy objects in manufacturing factories or logistics is an emerging research direction. Flexibility and efficiency can be enhanced by using multi-AGV comparing to a large AGV with higher capacity especially in clutter environments. In this paper, a multi-AGV system by using Mecanum wheels to provide omnidirectional movement is proposed for cooperative transportation. Accordingly, the proposed Mecanum-wheeled automated guided vehicles (MWAGVs) composed of Mecanum wheels and a rotary platform provides not only non-constrained movement but also planar displacement for allowance of distance errors. In the proposed MWAGVs, the formation control with fixed geometry during operation is significant especially with unknown object information, dynamic uncertainties, and external disturbances. Therefore, the passivity-based adaptive synchronizing control algorithm is developed to ensure stability and tracking performance with uncertain dynamic parameters. Simulations and Experiments show the efficacy of designed Mecanum-wheeled AGV.
{"title":"Towards Cooperative Transportation of Multiple Mecanum-Wheeled Automated Guided Vehicles","authors":"J. Peng, Yen‐Chen Liu","doi":"10.1115/dscc2019-9141","DOIUrl":"https://doi.org/10.1115/dscc2019-9141","url":null,"abstract":"\u0000 Utilizing multiple small-sized automated guided vehicles (AGVs) in cooperatively transport large and heavy objects in manufacturing factories or logistics is an emerging research direction. Flexibility and efficiency can be enhanced by using multi-AGV comparing to a large AGV with higher capacity especially in clutter environments. In this paper, a multi-AGV system by using Mecanum wheels to provide omnidirectional movement is proposed for cooperative transportation. Accordingly, the proposed Mecanum-wheeled automated guided vehicles (MWAGVs) composed of Mecanum wheels and a rotary platform provides not only non-constrained movement but also planar displacement for allowance of distance errors. In the proposed MWAGVs, the formation control with fixed geometry during operation is significant especially with unknown object information, dynamic uncertainties, and external disturbances. Therefore, the passivity-based adaptive synchronizing control algorithm is developed to ensure stability and tracking performance with uncertain dynamic parameters. Simulations and Experiments show the efficacy of designed Mecanum-wheeled AGV.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"29 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81472692","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Drop-on-demand (DoD) inkjet printing is used in precise-dosage deposition applications where consistent drop volume is important. Existing drop volume regulation in DoD inkjet printing are mainly open-loop approaches that are not effective in compensating for uncertainties during high volume printing applications. In this paper, a real-time image-based feedback system is proposed for regulating drop volume. A rotational symmetric model estimates drop volume from real-time images. Estimation accuracy is analyzed and validated. A simple feedback controller is developed to regulate drop volume. Experimental results validate the effectiveness of the proposed approach.
{"title":"Drop Volume Control in Drop-on-Demand Inkjet Printing","authors":"Jie Wang, Xia Chen, G. Chiu","doi":"10.1115/dscc2019-9233","DOIUrl":"https://doi.org/10.1115/dscc2019-9233","url":null,"abstract":"\u0000 Drop-on-demand (DoD) inkjet printing is used in precise-dosage deposition applications where consistent drop volume is important. Existing drop volume regulation in DoD inkjet printing are mainly open-loop approaches that are not effective in compensating for uncertainties during high volume printing applications. In this paper, a real-time image-based feedback system is proposed for regulating drop volume. A rotational symmetric model estimates drop volume from real-time images. Estimation accuracy is analyzed and validated. A simple feedback controller is developed to regulate drop volume. Experimental results validate the effectiveness of the proposed approach.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"239 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84580691","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Demetris Coleman, Maria L. Castaño, Osama Ennasr, Xiaobo Tan
Autonomous underwater gliders have become valuable tools for a myriad of applications ranging from ocean exploration to fish tracking to environmental sampling. To be suitable for these types of applications, precise sensing and monitoring is desired, which makes accurate trajectory control important. However, highly nonlinear under-actuated dynamics present significant challenges in control of gliders. In this work a backstepping-based controller is proposed for an underwater glider to track a desired position and heading reference in the sagittal plane with only two control inputs, the buoyancy and center of gravity along the longitudinal direction. In particular,the under-actuation issue is addressed by exploiting the coupled dynamics and introducing a new modified error that combines the tracking errors of heading and position references. In addition, an auxiliary system is incorporated to account for input constraints. Finally, a sliding mode observer is designed to obtain the estimates of body-fixed velocities, to facilitate practical implementation of the designed controller. The effectiveness of the proposed control scheme is demonstrated via simulations and its advantages are shown via comparison with a PID controller.
{"title":"Backstepping-Based Trajectory Tracking for Underwater Gliders","authors":"Demetris Coleman, Maria L. Castaño, Osama Ennasr, Xiaobo Tan","doi":"10.1115/dscc2019-9028","DOIUrl":"https://doi.org/10.1115/dscc2019-9028","url":null,"abstract":"\u0000 Autonomous underwater gliders have become valuable tools for a myriad of applications ranging from ocean exploration to fish tracking to environmental sampling. To be suitable for these types of applications, precise sensing and monitoring is desired, which makes accurate trajectory control important. However, highly nonlinear under-actuated dynamics present significant challenges in control of gliders. In this work a backstepping-based controller is proposed for an underwater glider to track a desired position and heading reference in the sagittal plane with only two control inputs, the buoyancy and center of gravity along the longitudinal direction. In particular,the under-actuation issue is addressed by exploiting the coupled dynamics and introducing a new modified error that combines the tracking errors of heading and position references. In addition, an auxiliary system is incorporated to account for input constraints. Finally, a sliding mode observer is designed to obtain the estimates of body-fixed velocities, to facilitate practical implementation of the designed controller. The effectiveness of the proposed control scheme is demonstrated via simulations and its advantages are shown via comparison with a PID controller.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"103 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85838911","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This article introduces a scenario optimization framework for reliability-based design given measurements of the uncertain parameters. In contrast to traditional methods, scenario optimization makes direct use of the available data thereby eliminating the need for assuming a distribution class and estimating its hyper-parameters. Scenario theory provides formal bounds on the probabilistic performance of a design decision and certifies the system ability to comply with various requirements for future/unseen observations. This probabilistic certificate of correctness is non-asymptotic and distribution-free. Furthermore, chance-constrained optimization techniques are used to detect and eliminate the effects of outliers in the resulting optimal design. The proposed framework is exemplified on a benchmark robust control challenge problem having conflicting design objectives.
{"title":"Solution of the Benchmark Control Problem by Scenario Optimization","authors":"Roberto Rocchetta, L. Crespo, S. Kenny","doi":"10.1115/dscc2019-8949","DOIUrl":"https://doi.org/10.1115/dscc2019-8949","url":null,"abstract":"\u0000 This article introduces a scenario optimization framework for reliability-based design given measurements of the uncertain parameters. In contrast to traditional methods, scenario optimization makes direct use of the available data thereby eliminating the need for assuming a distribution class and estimating its hyper-parameters. Scenario theory provides formal bounds on the probabilistic performance of a design decision and certifies the system ability to comply with various requirements for future/unseen observations. This probabilistic certificate of correctness is non-asymptotic and distribution-free. Furthermore, chance-constrained optimization techniques are used to detect and eliminate the effects of outliers in the resulting optimal design. The proposed framework is exemplified on a benchmark robust control challenge problem having conflicting design objectives.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"31 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84100186","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Inspired by the agility and maneuverability of running kangaroos, a prototype robot was developed using a reduced order model to constrain the system. Both passive and active models were used to understand the relationship between system parameters and gait performance. A frequency response experiment was performed on the prototype to quantify the relationship between design parameters and system responses. Additionally, preliminary tail controllers were tested. Based on the results of the initial platform, a new robot was designed and built as a platform for the study of three dimensional hopping.
{"title":"Design of a Kangaroo Inspired Hopping Robot for Unrestricted Locomotion and Controller Development","authors":"Austin Curtis, James A. Mynderse, H. Vejdani","doi":"10.1115/dscc2019-9083","DOIUrl":"https://doi.org/10.1115/dscc2019-9083","url":null,"abstract":"\u0000 Inspired by the agility and maneuverability of running kangaroos, a prototype robot was developed using a reduced order model to constrain the system. Both passive and active models were used to understand the relationship between system parameters and gait performance. A frequency response experiment was performed on the prototype to quantify the relationship between design parameters and system responses. Additionally, preliminary tail controllers were tested. Based on the results of the initial platform, a new robot was designed and built as a platform for the study of three dimensional hopping.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"1 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78570577","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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