Analysis And Control Of A Dissipative Spring-mass Hopper With Torque Actuation


Analysis and control of a dissipative spring-mass hopper with torque actuation
Ankaralı, Mustafa Mert; Saranlı, Uluç (The MIT Press, Cambridge (MA), USA , 2011-01-01)
Robotics: Science and Systems VI spans a wide spectrum of robotics, bringing together researchers working on the foundations of robotics, robotics applications, and the analysis of robotics systems. This volume presents the proceedings of the sixth Robotics: Science and Systems conference, held in 2010 at the University of Zaragoza, Spain. The papers presented cover a wide range of topics in robotics, spanning mechanisms, kinematics, dynamics and control, human-robot interaction and human-centered systems, ...
Analysis and Control of a Dissipative Spring-Mass Hopper with Torque Actuation
Ankaralı, Mustafa Mert; Saranlı, Uluç (2011-01-01)
It has long been established that simple spring-mass models can accurately represent the dynamics of legged locomotion. Existing work in this domain, however, almost exclusively focuses on the idealized Spring-Loaded Inverted Pendulum (SLIP) model and neglects passive dissipative effects unavoidable in any physical robot or animal. In this paper, we extend on a recently proposed analytic approximation to the stance trajectories of a dissipative SLIP model to analyze stability properties of a planar hopper w...
Mahamid, Mustafa; Baran, Eray; Torra-bilal, Ines; Bilal, Kamel (null; 2020-09-17)
Analysis and design of dual-polarized wideband patch antennas electromagnetically excited with elevated wide strips /
Yılmaz, Adil Fırat; Alatan, Lale; Department of Electrical and Electronics Engineering (2015)
In communication systems like WiMAX, WLAN, 3G, 4G and LTE, design of wideband and dual polarized antennas are required. It is known that bandwidth of patch antennas can be broaden by using thick air substrates. The bandwidth can be further improved by using three dimensional feed strucutures that are electromagnetically coupled to the patch. In this thesis, microstrip patch antennas that are excited by elevated wide strips are studied. First, a linearly polarized antenna is considered and the effects of ant...
Analysis and design of microstrip patch antennas with arbitrary slot shapes
Şener, Göker; Alatan, Lale; Kuzuoğlu, Mustafa; Department of Electrical and Electronics Engineering (2011)
A new method is proposed that provides simple and effcient design and analysis algorithm for microstrip antennas with arbitrary patch shapes. The proposed procedure uses the mutiport network model (MNM) where the antenna is considered as a cavity bounded by perfect electric conductors on the top and the bottom surfaces and perfect magnetic conductor on the side surfaces. Ports are defined along the periphery of the patch, and the impedance matrix representing the voltage induced at one port due to a current...
Citation Formats
M. M. Ankaralı and U. Saranlı, “Analysis And Control Of A Dissipative Spring-mass Hopper With Torque Actuation,” 2010, Accessed: 00, 2021. [Online]. Available: