Search research articles

ABOUT JoVE

Overview Leadership Blog JoVE Help Center

AUTHORS

Publishing Process Editorial Board Scope & Policies Peer Review FAQ Submit

LIBRARIANS

Testimonials Subscriptions Access Resources Library Advisory Board FAQ

RESEARCH

JoVE Journal Methods Collections JoVE Encyclopedia of Experiments Archive

EDUCATION

JoVE Core JoVE Business JoVE Science Education JoVE Lab Manual Faculty Resource Center Faculty Site

Terms & Conditions of Use

Related Concept Videos

Hydraulic Jump: Problem Solving

Hydraulic Jump: Problem Solving

To analyze a hydraulic jump in a rectangular channel with a flow speed of 6 meters per second, follow these steps:Calculate Effective Upstream Velocity:When the downstream gate closes, a hydraulic jump forms, traveling upstream at 2 meters per second. This wave speed combines with the initial channel flow velocity, creating an effective upstream velocity.Identify Flow Velocities Before and After the Hydraulic Jump:Upstream of the hydraulic jump, the effective flow velocity includes both the...

One-Degree-of-Freedom System

One-Degree-of-Freedom System

In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...

PD Controller: Design

PD Controller: Design

In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...

Planar Rigid-Body Motion

Planar Rigid-Body Motion

Understanding the movement of a rigid body in planar motion involves recognizing that every particle within this body is traversing a path that maintains a consistent distance from a specific plane. This concept is fundamental in the study of physics and mechanical engineering, and it allows us to comprehend better how objects move in space.
Planar motion is typically divided into three distinct categories. The first is rectilinear translation, demonstrated by a subway train that moves along...

Two-Dimensional Force System: Problem Solving

Two-Dimensional Force System: Problem Solving

Solving problems related to two-dimensional force systems is an essential aspect of mechanics and engineering. By applying the principles of vector analysis and force equilibrium, one can determine the effect of multiple forces acting on an object in a two-dimensional space.
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...

Three-Dimensional Force System:Problem Solving

Three-Dimensional Force System:Problem Solving

A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by

Same author

Thermal Fluctuations of Ferroelectric Nanodomains in a Ferroelectric-Dielectric PbTiO_{3}/SrTiO_{3} Superlattice.

Physical review letters·2017

Same author

Purity assessment of ginsenoside Rg1 using quantitative <sup>1</sup>H nuclear magnetic resonance.

Journal of pharmaceutical and biomedical analysis·2017

Same author

Colistin Resistance in <i>Acinetobacter baumannii</i> MDR-ZJ06 Revealed by a Multiomics Approach.

Frontiers in cellular and infection microbiology·2017

Same author

Relationship between clopidogrel-related polymorphisms and variable platelet reactivity at 1 year: A cohort study from Han Chinese.

Journal of research in medical sciences : the official journal of Isfahan University of Medical Sciences·2017

Same author

Interface Control of Ferroelectricity in an SrRuO<sub>3</sub> /BaTiO<sub>3</sub> /SrRuO<sub>3</sub> Capacitor and its Critical Thickness.

Advanced materials (Deerfield Beach, Fla.)·2017

Same author

Irradiation pretreatment facilitates the achievement of high total sugars concentration from lignocellulose biomass.

Bioresource technology·2017

Same journal

Correction: Kang et al. Fluid Flow to Electricity: Capturing Flow-Induced Vibrations with Micro-Electromechanical-System-Based Piezoelectric Energy Harvester. <i>Micromachines</i> 2024, <i>15</i>, 581.

Micromachines·2026

Same journal

Femtosecond Laser Texturing of Wood Coatings with Bio-Based Epoxy and Wax Additives for Enhanced Hydrophobicity.

Micromachines·2026

Same journal

Engineering of Optoelectronic Devices for Renewable Energy Applications.

Micromachines·2026

Same journal

Phase Transformation and Electrochemical Behavior of Hexagonal TiO<sub>2</sub> Nanotubes Under Different Annealing Temperatures and Heating Rates.

Micromachines·2026

Same journal

Process Optimization and Predictive Modeling of Femtosecond Laser Precision Milling for Commercial PMMA Slices.

Micromachines·2026

Same journal

A Hybrid Preprocessing Multi-Objective Surrogate Model for Thermal MEMS Actuators.

Micromachines·2026

See all related articles

Search research articles

Related Experiment Video

Updated: Aug 30, 2025

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Published on: June 10, 2020

Stable and Fast Planar Jumping Control Design for a Compliant One-Legged Robot.

Guifu Luo¹, Ruilong Du², Sumian Song²

¹State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China.

|August 26, 2022

Summary

This summary is machine-generated.

This study introduces an advanced control strategy for compliant one-legged robots, enhancing stable and fast planar jumping. The new method ensures accurate tracking of forward speed and jumping height, even with disturbances.

Keywords:

compliant one-legged robots control strategy planar jumping robustness stable and fast locomotion uneven terrain

More Related Videos

Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb

Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb

Published on: August 30, 2016

Experimental Methods to Study Human Postural Control

Experimental Methods to Study Human Postural Control

Published on: September 11, 2019

Related Experiment Videos

Last Updated: Aug 30, 2025

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Published on: June 10, 2020

Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb

Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb

Published on: August 30, 2016

Experimental Methods to Study Human Postural Control

Experimental Methods to Study Human Postural Control

Published on: September 11, 2019

Area of Science:

Robotics
Control Systems Engineering
Biomechanics

Background:

Compliant robots offer impact resistance and energy efficiency but pose control challenges.
Stable control is crucial for realizing the full potential of compliant robotic systems.

Purpose of the Study:

To develop an improved control strategy for stable and fast planar jumping in a compliant one-legged robot.
To address challenges in controlling compliant robots by enhancing stability and speed.

Main Methods:

Modeled the robot using an extended spring-loaded inverted pendulum (SLIP) model with non-negligible inertia and damping.
Implemented a foot placement method with a variable time coefficient and integral term for forward speed tracking.
Utilized an energy-based leg rest length regulation with an integral term for precise jumping height control.

Main Results:

Validated the proposed control strategy through numerical simulations.
Achieved stable and fast planar jumping for the compliant one-legged robot.
Demonstrated accurate tracking of desired forward speed and jumping height.

Conclusions:

The developed control strategy effectively enables stable and fast jumping in compliant one-legged robots.
The strategy shows robustness against disturbances and uneven terrain.
This work advances the control of compliant robotic locomotion.