Wave-propelled boats utilize submerged flapping foils to convert wave energy directly into propulsion. For platforms that are solely propelled using foils, predicting the forward speed is challenging as it time varying and dependent on coupled responses of wave-induced hull motions (surge, heave, pitch) foil motion (driven by incident wavy flow). To ascertain free-running response wave-propelle...

background: despite some successful dynamic simulation of self-impact double pendulum (sidp)-as humanoid robots legs or arms- studies, there is limited information available about the control of one leg locomotion. objective   : the main goal of this research is to improve the reliability of the mammalians leg locomotion and building more elaborated models close to the natural movements, by mod...

In this paper we present and experimentally validate a control method for regulating both the forward speed and the apex height of a one legged hopping robot, using only a single actuator. The control method is based on a dynamic model of the hopping robot and makes use of the dynamic coupling of the vertical and forward motions of the robot. The control is applied first to a simulated model of...