NI MENG 2022a - Revision history

Rimni at 11:18, 19 January 2023

2023-01-19T11:18:00Z

Rimni at 11:03, 19 January 2023

2023-01-19T11:03:50Z

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Rimni at 08:45, 13 January 2023

2023-01-13T08:45:14Z

Rimni at 08:44, 13 January 2023

2023-01-13T08:44:13Z

Rimni: /* 2. Dynamical model */

2023-01-11T11:48:18Z

‎2. Dynamical model

Rimni: /* 4.2 The effect of the center of mass of the body */

2023-01-11T11:43:54Z

‎4.2 The effect of the center of mass of the body

Rimni: /* 4.2 The effect of the center of mass of the body */

2023-01-11T11:39:05Z

‎4.2 The effect of the center of mass of the body

Rimni: /* References */

2023-01-11T11:35:23Z

‎References

Rimni: /* References */

2023-01-11T11:18:35Z

‎References

Rimni at 10:27, 11 January 2023

2023-01-11T10:27:41Z

@@ Line 45: / Line 45: @@
 |style="text-align: center;padding:10px;"|  [[Image:Review_801861383672-image2.png|344px]]
 |-
-| style="background:#efefef;text-align:left;padding:10px;font-size: 75%;"| '''Figure 1'''. Model of robot
+| style="background:#efefef;text-align:left;padding:10px;font-size: 85%;"| '''Figure 1'''. Model of robot
 |}
@@ Line 51: / Line 51: @@
 The hopping motion of the robot is composed of two phases: stance phase and flight phase. The switch from the stance phase to the flight phase is called lift-off, triggered by  <math>l\geq l_0</math>. The switch from the flight phase to the stance phase is called touchdown, triggered by  <math>zh\leq l_0 \cos(\theta )</math>. We use the event-based subscript to describe the motion during different phases. The subscript  <math>st</math> represents the stance phase,  <math>fl</math> represents the flight phase,  <math>td</math> is the moment at touchdown and  <math>l_0</math> is the moment at lift off.
-<div class="center" style="font-size: 75%;">'''Table 1'''. Physical parameters</div>
 <div id='tab-1'></div>
@@ Line 275: / Line 276: @@
 |style="text-align: center;padding:10px;"| [[File:Review_801861383672_1330_fig2.png|250px]]
 |-
-| style="background:#efefef;text-align:left;padding:10px;font-size: 75%;"| '''Figure 2'''. The step length , the apex height and the minimum value of the leg length during stance phase
+| style="background:#efefef;text-align:left;padding:10px;font-size: 85%;"| '''Figure 2'''. The step length , the apex height and the minimum value of the leg length during stance phase
 |}
@@ Line 286: / Line 287: @@
 |style="text-align: center;padding:10px;"| [[File:Review_801861383672_8608_fig3.png|250px]]
 |-
-| style="background:#efefef;text-align:left;padding:10px;font-size: 75%;"| '''Figure 3'''. The horizontal and vertial velocity of the COM at takeoff
+| style="background:#efefef;text-align:left;padding:10px;font-size: 85%;"| '''Figure 3'''. The horizontal and vertial velocity of the COM at takeoff
 |}
@@ Line 297: / Line 298: @@
 |style="text-align: center;padding:10px;"| [[File:Review_801861383672_7950_fig4.png|250px]]
 |-
-| style="background:#efefef;text-align:left;padding:10px;font-size: 75%;"| '''Figure 4'''. Bounce period, stance time v.s. <math>\alpha</math>
+| style="background:#efefef;text-align:left;padding:10px;font-size: 85%;"| '''Figure 4'''. Bounce period, stance time v.s. <math>\alpha</math>
 |}
@@ Line 308: / Line 309: @@
 |style="text-align: center;padding:10px;"| [[File:Review_801861383672_6031_fig5.png|250px]]
 |-
-| style="background:#efefef;text-align:left;padding:10px;font-size: 75%;"| '''Figure 5'''. Trajectory of the leg
+| style="background:#efefef;text-align:left;padding:10px;font-size: 85%;"| '''Figure 5'''. Trajectory of the leg
 |}
@@ Line 317: / Line 318: @@
 |style="text-align: center;padding:10px;"|  [[File:Review_801861383672_7763_fig6.png|250px]]
 |-
-| style="background:#efefef;text-align:left;padding:10px;font-size: 75%;"| '''Figure 6'''. Trajectory of the body
+| style="background:#efefef;text-align:left;padding:10px;font-size: 85%;"| '''Figure 6'''. Trajectory of the body
 |}
@@ Line 329: / Line 330: @@
 |style="text-align: center;padding:10px;"| [[File:Review_801861383672_4570_fig7.png|700px]]
 |-
-| style="background:#efefef;text-align:left;padding:10px;font-size: 75%;"| '''Figure 7'''. Periodic passive hopping gait without active control
+| style="background:#efefef;text-align:left;padding:10px;font-size: 85%;"| '''Figure 7'''. Periodic passive hopping gait without active control
 |}
@@ Line 340: / Line 341: @@
 |style="text-align: center;padding:10px;"| [[File:Review_801861383672_9300_fig8.png|600px]]
 |-
-| style="background:#efefef;text-align:left;padding:10px;font-size: 75%;"| '''Figure 8'''. Active periodic gait of the hopping robot when <math display="inline">\alpha =0.7</math>, <math display="inline">\beta =0.13</math>
+| style="background:#efefef;text-align:left;padding:10px;font-size: 85%;"| '''Figure 8'''. Active periodic gait of the hopping robot when <math display="inline">\alpha =0.7</math>, <math display="inline">\beta =0.13</math>
 |}
@@ Line 349: / Line 350: @@
 |style="text-align: center;padding:10px;"| [[File:Review_801861383672_3557_fig9.png|300px]]
 |-
-| style="background:#efefef;text-align:left;padding:10px;font-size: 75%;"| '''Figure 9'''. Limit cycle of the hopping robot
+| style="background:#efefef;text-align:left;padding:10px;font-size: 85%;"| '''Figure 9'''. Limit cycle of the hopping robot
 |}
@@ Line 360: / Line 361: @@
 |style="text-align: center;padding:10px;"| [[File:Review_801861383672_4471_fig10.png|250px]]
 |-
-| style="background:#efefef;text-align:left;padding:10px;font-size: 75%;"| '''Figure 10'''. The maximum allowable value of <math display="inline">\beta</math> v.s. <math display="inline">\alpha</math>
+| style="background:#efefef;text-align:left;padding:10px;font-size: 85%;"| '''Figure 10'''. The maximum allowable value of <math display="inline">\beta</math> v.s. <math display="inline">\alpha</math>
 |}
@@ Line 371: / Line 372: @@
 |style="text-align: center;padding:10px;"| [[File:Review_801861383672_3775_fig11.png|250px]]
 |-
-| style="background:#efefef;text-align:left;padding:10px;font-size: 75%;"| '''Figure 11'''. The horizontal and vertical velocity of the center of mass at take-off
+| style="background:#efefef;text-align:left;padding:10px;font-size: 85%;"| '''Figure 11'''. The horizontal and vertical velocity of the center of mass at take-off
 |}
@@ Line 382: / Line 383: @@
 |style="text-align: center;padding:10px;"| [[File:Review_801861383672_6465_fig12.png|250px]]
 |-
-| style="background:#efefef;text-align:left;padding:10px;font-size: 75%;"| '''Figure 12'''. Minimum length of legs in landing phase with different of <math display="inline">\beta</math>
+| style="background:#efefef;text-align:left;padding:10px;font-size: 85%;"| '''Figure 12'''. Minimum length of legs in landing phase with different of <math display="inline">\beta</math>
 |}
@@ Line 402: / Line 403: @@
 |}
 |-
-| style="background:#efefef;text-align:left;padding:10px;font-size: 75%;"| '''Figure 13'''.  Leg angle and the body angle vs. time
+| style="background:#efefef;text-align:left;padding:10px;font-size: 85%;"| '''Figure 13'''.  Leg angle and the body angle vs. time
 |}
@@ Line 413: / Line 414: @@
 |style="text-align: center;padding:10px;"| [[File:Review_801861383672_2649_fig14.png|250px]]
 |-
-| style="background:#efefef;text-align:left;padding:10px;font-size: 75%;"| '''Figure 14'''. Influence of body eccentricity ratio on driving torque
+| style="background:#efefef;text-align:left;padding:10px;font-size: 85%;"| '''Figure 14'''. Influence of body eccentricity ratio on driving torque
 |}

@@ Line 273: / Line 273: @@
 {| style="text-align: center; border: 1px solid #BBB; margin: 1em auto; width: auto;max-width: auto;"
 |-
-|style="padding:10px;"| [[File:Review_801861383672_1330_fig2.png|300px]]
+|style="padding:10px;"| [[File:Review_801861383672_1330_fig2.png|250px]]
 |- style="text-align: center; font-size: 75%;"
 | colspan="1" style="padding:10px;"| '''Figure 2'''. The step length , the apex height and the minimum value of the leg length during stance phase
@@ Line 284: / Line 284: @@
 {| style="text-align: center; border: 1px solid #BBB; margin: 1em auto; width: auto;max-width: auto;"
 |-
-|style="padding:10px;"| [[File:Review_801861383672_8608_fig3.png|300px]]
+|style="padding:10px;"| [[File:Review_801861383672_8608_fig3.png|250px]]
 |- style="text-align: center; font-size: 75%;"
 | colspan="1" style="padding:10px;"| '''Figure 3'''. The horizontal and vertial velocity of the COM at takeoff
@@ Line 295: / Line 295: @@
 {| style="text-align: center; border: 1px solid #BBB; margin: 1em auto; width: auto;max-width: auto;"
 |-
-|style="padding:10px;"| [[File:Review_801861383672_7950_fig4.png|300px]]
+|style="padding:10px;"| [[File:Review_801861383672_7950_fig4.png|250px]]
 |- style="text-align: center; font-size: 75%;"
 | colspan="1" style="padding:10px;"| '''Figure 4'''. Bounce period, stance time v.s. <math>\alpha</math>
@@ Line 306: / Line 306: @@
 {| style="text-align: center; border: 1px solid #BBB; margin: 1em auto; width: auto;max-width: auto;"
 |-
-|style="padding:10px;"| [[File:Review_801861383672_6031_fig5.png|300px]]
+|style="padding:10px;"| [[File:Review_801861383672_6031_fig5.png|250px]]
 |- style="text-align: center; font-size: 75%;"
 | colspan="1" style="padding:10px;"| '''Figure 5'''. Trajectory of the leg
@@ Line 315: / Line 315: @@
 {| style="text-align: center; border: 1px solid #BBB; margin: 1em auto; width: auto;max-width: auto;"
 |-
-|style="padding:10px;"| [[File:Review_801861383672_7763_fig6.png|300px]]
+|style="padding:10px;"| [[File:Review_801861383672_7763_fig6.png|250px]]
 |- style="text-align: center; font-size: 75%;"
 | colspan="1" style="padding:10px;"| '''Figure 6'''. Trajectory of the body

@@ Line 358: / Line 358: @@
 {| style="text-align: center; border: 1px solid #BBB; margin: 1em auto; width: auto;max-width: auto;"
 |-
-|style="padding:10px;"| [[File:Review_801861383672_4471_fig10.png|300px]]
+|style="padding:10px;"| [[File:Review_801861383672_4471_fig10.png|250px]]
 |- style="text-align: center; font-size: 75%;"
 | colspan="1" style="padding:10px;"| '''Figure 10'''. The maximum allowable value of <math display="inline">\beta</math> v.s. <math display="inline">\alpha</math>
@@ Line 369: / Line 369: @@
 {| style="text-align: center; border: 1px solid #BBB; margin: 1em auto; width: auto;max-width: auto;"
 |-
-|style="padding:10px;"| [[File:Review_801861383672_3775_fig11.png|300px]]
+|style="padding:10px;"| [[File:Review_801861383672_3775_fig11.png|250px]]
 |- style="text-align: center; font-size: 75%;"
 | colspan="1" style="padding:10px;"| '''Figure 11'''. The horizontal and vertical velocity of the center of mass at take-off
@@ Line 380: / Line 380: @@
 {| style="text-align: center; border: 1px solid #BBB; margin: 1em auto; width: auto;max-width: auto;"
 |-
-|style="padding:10px;"| [[File:Review_801861383672_6465_fig12.png]]
+|style="padding:10px;"| [[File:Review_801861383672_6465_fig12.png|250px]]
 |- style="text-align: center; font-size: 75%;"
 | colspan="1" style="padding:10px;"| '''Figure 12'''. Minimum length of legs in landing phase with different of <math display="inline">\beta</math>
@@ Line 406: / Line 406: @@
 {| style="text-align: center; border: 1px solid #BBB; margin: 1em auto; width: auto;max-width: auto;"
 |-
-|style="padding:10px;"| [[File:Review_801861383672_2649_fig14.png|300px]]
+|style="padding:10px;"| [[File:Review_801861383672_2649_fig14.png|250px]]
 |- style="text-align: center; font-size: 75%;"
 | colspan="1" style="padding:10px;"| '''Figure 14'''. Influence of body eccentricity ratio on driving torque

← Older revision		Revision as of 11:48, 11 January 2023
Line 96:		Line 96:


−	During the stance phase the leg is in contact with ground at a toe point <math>F </math> (end of the leg). Supposing that the robot does not bounce back nor slip relative to the ground, the leg rotates around the toe. Then the toe can be modeled as a pivot. We choose polar coordinates <math>\boldsymbol{q}_{st}={\left[\begin{array}{ccc} l & \theta & \varphi \end{array}\right]}^T</math> as the generalized coordinates. Using the Lagrange method [22], the equations of motion is obtained as:	+	During the stance phase the leg is in contact with ground at a toe point <math>F </math> (end of the leg). Supposing that the robot does not bounce back nor slip relative to the ground, the leg rotates around the toe. Then the toe can be modeled as a pivot. We choose polar coordinates <math>\boldsymbol{q}_{st}={\left[\begin{array}{ccc} l & \theta & \varphi \end{array}\right]}^T</math>, as the generalized coordinates. Using the Lagrange method [22], the equations of motion is obtained as:

	{\| class="formulaSCP" style="width: 100%; text-align: center;"		{\| class="formulaSCP" style="width: 100%; text-align: center;"

@@ Line 406: / Line 406: @@
 {| style="text-align: center; border: 1px solid #BBB; margin: 1em auto; width: auto;max-width: auto;"
 |-
-|style="padding:10px;"| [[File:Review_801861383672_2649_fig14.png]]
+|style="padding:10px;"| [[File:Review_801861383672_2649_fig14.png|300px]]
 |- style="text-align: center; font-size: 75%;"
 | colspan="1" style="padding:10px;"| '''Figure 14'''. Influence of body eccentricity ratio on driving torque

@@ Line 403: / Line 403: @@
 [[#img-14|Figure 14]] shows that the greater the body eccentricity, the greater the driving torque required by the robot to drive the body pitching motion in the landing phase, because the swing range of the body in the landing phase also becomes larger.
-<div id="_Ref509241492" class="center" style="width: auto; margin-left: auto; margin-right: auto;">
+<div id='img-14'></div>
+{| style="text-align: center; border: 1px solid #BBB; margin: 1em auto; width: auto;max-width: auto;"
-[[File:Review_801861383672_2649_fig14.png]]
+|-
-</div>
+|style="padding:10px;"| [[File:Review_801861383672_2649_fig14.png]]
+|- style="text-align: center; font-size: 75%;"
-<div class="center" style="width: auto; margin-left: auto; margin-right: auto;">
+| colspan="1" style="padding:10px;"| '''Figure 14'''. Influence of body eccentricity ratio on driving torque
-<span style="text-align: center; font-size: 75%;">Fig.14 Influence of body eccentricity ratio on driving torque </span></div>
+|}
 ==5. Conclusion==

@@ Line 457: / Line 457: @@
 [[#cite-_neb4A4A8CC9_A46A_4BCF_BC9D_670B4C03FF5A|[19]]] Kuswadi S., Ohnishi A., Takahashi A., Sampei M., Nakaura S. A one linear actuator hopping robot：modeling and control. Advanced Robotics, 17(8):709-737, 2003.
-[[#cite-_neb8F66AAB4_7662_4F92_98D1_63D73F7A88B8|[20]]] Sayyad, A., B. Seth and K.K. Issac, Dynamics and Control of a One-legged 2-D SLOM Hopping Robot[C], 12th IFToMM World Congress. 2007: Besançon.
+[[#cite-_neb8F66AAB4_7662_4F92_98D1_63D73F7A88B8|[20]]] Sayyad A.,  Seth B.,   Issac K.K. Dynamics and control of a one-legged 2-D SLOM popping robot. 12th IFToMM World Congress, Besançon, 2007.
-[[#cite-_nebE783E321_38AC_4A39_936A_93AB94B9C761|[21]]] Seth B, Seshu S, Shanmuganathan P V, et al. Search for Initial Conditions for Sustained Hopping of Passive Springy-Leg Offset-Mass Hopping Robot[J]. Journal of Dynamic Systems, Measurement, and Control. 2007, 129(4): 5.
+[[#cite-_nebE783E321_38AC_4A39_936A_93AB94B9C761|[21]]] Seth B., Seshu S., Shanmuganathan P.V., Vichare V.V.,  Raj P. Search for initial conditions for sustained hopping of passive springy-leg offset-mass hopping robot. Journal of Dynamic Systems, Measurement, and Control, 129(4):522-526, 2007.
-[[#cite-_Ref17710425|[22]]] Poulakakis, I. and J.W. Grizzle, The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper[J]. IEEE Transactions on Automatic Control, 2009. 54(8):1779-1793.
+[[#cite-_Ref17710425|[22]]] Poulakakis I.,   Grizzle J.W. The spring loaded inverted pendulum as the hybrid zero dynamics of an asymmetric hopper. IEEE Transactions on Automatic Control, 54(8):1779-1793, 2009.
-[23] Poulakakis, I, Spring loaded inverted pendulum embedding: Extensions toward the control of compliant running robots[C]. 2010 IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, USA: 2010, 1050-4729.
+[23] Poulakakis I. Spring loaded inverted pendulum embedding: Extensions toward the control of compliant running robots. 2010 IEEE International Conference on Robotics and Automation (ICRA), pp. 1050-4729, Anchorage, Alaska, USA, 2010.
-[24] Terry, P., G. Piovan and K. Byl. Towards precise control of hoppers: Using high order partial feedback linearization to control the hopping robot FRANK[C]. IEEE 55th Conference on Decision and Control (CDC) ARIA Resort & Casino. 2016: Las Vegas, USA.
+[24] Terry P.,  Piovan G.,   Byl K. Towards precise control of hoppers: Using high order partial feedback linearization to control the hopping robot FRANK. IEEE 55th Conference on Decision and Control (CDC), pp. 6669-6675, Las Vegas, USA, 2016.
-[25] Zou, H,Schmiedeler, J P, The effect of asymmetrical body-mass distribution on the stability and dynamics of quadruped bounding[J]. IEEE Transactions on Robotics, 2006, 22(4): 711-723.
+[25] Zou H., Schmiedeler J.P. The effect of asymmetrical body-mass distribution on the stability and dynamics of quadruped bounding. IEEE Transactions on Robotics, 22(4):711-723, 2006.
-[26] Hua, N,Sun, R,Hu, Let al., Control of a cheetah robot in passive bounding gait[J]. Journal of Bionic Engineering, 2016, 13(002): 283-291.
+[26] Nie H., Sun R., Hu L., Su Z., Hu W. Control of a cheetah robot in passive bounding gait. Journal of Bionic Engineering, 13(2):283-291, 2016.

@@ Line 435: / Line 435: @@
 [[#cite-_Ref85573788|[8]]] Blickhan B. The spring-mass model for running and hopping. J.Biomechanics, 22(11-12):1217-1227, 1989.
-[[#cite-_Ref85571161|[9]]] Cherouvim N ,  Papadopoulos E . Single Actuator Control Analysis of a Planar 3DOF Hopping Robot[C]. Robotics: Science and Systems I, June 8-11, 2005, Massachusetts Institute of Technology, Cambridge, Massachusetts. 2005.
+[[#cite-_Ref85571161|[9]]] Cherouvim N.,  Papadopoulos E. Single actuator control analysis of a planar 3DOF hopping robot. Robotics: Science and Systems I, Massachusetts Institute of Technology, Cambridge, Massachusetts, June 8-11, 2005.
-[[#cite-_nebF72182DD_0142_4EDA_B461_376335BF0C09|[10]]] Papadopoulos, E, Cherouvim, N.,On increasing energy autonomy for a one-legged hopping robot[C]. Proceedings of the 2004 IEEE International Conference on Robotics and Automation. 2004. 4645-4650.
+[[#cite-_nebF72182DD_0142_4EDA_B461_376335BF0C09|[10]]] Papadopoulos E., Cherouvim N. On increasing energy autonomy for a one-legged hopping robot. Proceedings of the 2004 IEEE International Conference on Robotics and Automation, pp. 4645-4650, 2004.
-[11] François, C. and Samson, C., A New Approach to the Control of the Planar One-Legged Hopper[J]. International Journal of Robotics Research, 1998. 17(11): 1150-1166.
+[11] François C., Samson C. A new approach to the control of the planar one-legged hopper. International Journal of Robotics Research, 17(11):1150-1166, 1998.
-[12] Thompson, C.M. and Raibert, M.H., Passive Dynamic Runniug. Experimental Robotics I, 1989: 74-83
+[12] Thompson C.M.,  Raibert M.H. Passive dynamic running. The First International Symposium on Experimental Robotics I, pp. 74-83, 1989.
-[[#cite-_neb2B61CDB5_6B04_4FED_8F96_C3854775F3E0|[13]]] Schammass, A., Caurin,G A P, Valente, C M O., Control of a one-legged robot with energy savings[J]. Journal of the Brazilian Society of Mechanical Sciences & Engineering, 2001. 23(1): 41-48.
+[[#cite-_neb2B61CDB5_6B04_4FED_8F96_C3854775F3E0|[13]]] Schammass A., Caurin G.A.P., Valente C.M.O. Control of a one-legged robot with energy savings. Journal of the Brazilian Society of Mechanical Sciences & Engineering, 23(1):41-48, 2001.
-[[#cite-_neb52EE5DEE_BAB6_4DAC_A20D_6AC27787712F|[14]]] Hyon, S. and Emura, T.. Quasi-periodic gaits of passive one-legged hopper[C]. IEEE/RSJ International Conference on Intelligent Robots and Systems. 2002.
+[[#cite-_neb52EE5DEE_BAB6_4DAC_A20D_6AC27787712F|[14]]] Hyon S., Emura T. Quasi-periodic gaits of passive one-legged hopper. IEEE/RSJ International Conference on Intelligent Robots and Systems, 3:2625-2630, Lausanne, Switzerland, 2002.
-[[#cite-_neb7640F6CD_0F2B_4E48_B930_2867006FF860|[15]]] Hyon, S. and Emura, T., Energy-preserving control of a passive one-legged running robot[J]. Advanced Robotics, 2004. 18(4):  357-381.
+[[#cite-_neb7640F6CD_0F2B_4E48_B930_2867006FF860|[15]]] Hyon S., Emura T. Energy-preserving control of a passive one-legged running robot. Advanced Robotics, 18(4):357-381, 2004.
-[[#cite-_Ref12353154|[16]]] Hyon S, Emura T, and Ueta T. Delayed feedback control of one-legged passive running robot[C]. Sice 2004 Conference. 2004. 949-954.
+[[#cite-_Ref12353154|[16]]] Hyon S., Emura T.,  Ueta T. Delayed feedback control of one-legged passive running robot. Sice 2004 Annual Conference,  pp. 949-954, Sapporo, Japan, 2004.
-[[#cite-_nebEDF936BE_0B8E_45AC_99C2_65ECDA8F4FB6|[17]]] Lei, B., et al. Stability analysis of quasi-periodic hopping of a passive one-legged robot with compliant hip joint[C]. IEEE International Conference on Mechatronics and Automation. 2014.
+[[#cite-_nebEDF936BE_0B8E_45AC_99C2_65ECDA8F4FB6|[17]]] Lei B., Wang P.,  Zha F.,  Li M.,   Guo W. Stability analysis of quasi-periodic hopping of a passive one-legged robot with compliant hip joint. IEEE International Conference on Mechatronics and Automation, pp. 623-628, Tianjin, China, 2014.
-[[#cite-_nebE5FC569D_7EF3_45E1_A38F_45D02981FAD7|[18]]] Wei, T., et al. Design of a 5-cm Monopod Hopping Robot. in IEEE International Conference on Robotics & Automation. 2000: IEEE.
+[[#cite-_nebE5FC569D_7EF3_45E1_A38F_45D02981FAD7|[18]]] Wei T.E.,  Nelson G.M.,  Quinn R.D.,  Verma H.,   Garverick S.L. Design of a 5-cm Monopod Hopping Robot. Proceedings 2000 ICRA, Millennium Conference, IEEE International Conference on Robotics and Automation, 3:2828-2833, San Francisco, CA, USA, 2000.
-[[#cite-_neb4A4A8CC9_A46A_4BCF_BC9D_670B4C03FF5A|[19]]] Kuswadi, S., et al., A one linear actuator hopping robot：modeling and control[J]. Advanced Robotics, 2003. 17(8): 709-737.
+[[#cite-_neb4A4A8CC9_A46A_4BCF_BC9D_670B4C03FF5A|[19]]] Kuswadi S., Ohnishi A., Takahashi A., Sampei M., Nakaura S. A one linear actuator hopping robot：modeling and control. Advanced Robotics, 17(8):709-737, 2003.
 [[#cite-_neb8F66AAB4_7662_4F92_98D1_63D73F7A88B8|[20]]] Sayyad, A., B. Seth and K.K. Issac, Dynamics and Control of a One-legged 2-D SLOM Hopping Robot[C], 12th IFToMM World Congress. 2007: Besançon.

@@ Line 427: / Line 427: @@
 [[#cite-_nebFD2E02D8_1E40_4008_8B88_D2915396DF2B|[4]]] Ahmadi M., Buehler M. Stable control of a simulated one-legged running robot with hip and leg compliance. IEEE Transactions on Robots and Automation, 13(1):96-104, 1997.
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