{'fraction_non_alphanumeric': 0.021568627450980392, 'fraction_numerical': 0.0, 'mean_word_length': 4.735955056179775, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Modeling and Fuzzy Control of One-legged Somersaulting Robot

Research on legged robots has developed rapidly in the recent decades. One-legged robots, unlike multi-legged ones, have only one type of motion, called hopping. Hopping motion is generally divided into stance and flight phases. Switching between these two phases represents a hybrid dynamic model. Dynamic stabilization of hopping motion is a challenging control issue. Most of one-legged hopping robots studied in the past are able to hop with their one springy leg. In this paper, a novel one-legged robot is introduced and studied with two springs on the two sides. The one-legged somersaulting robot is able to hop with both springy sides. This ability causes lower energy consumption in passing obstacles and a longer step length in comparison with well-known SLIP robots with hopping motion stemming from the fact that it only has one rotary actuator. Fuzzy logic control is applied to achieve a stable limit cycle in the robot's somersaulting motion.