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Showing 1 to 1 of 1 for “"Discrete Actuation"”.
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On the discretisation of actuation in locomotion: Impulse- and shape-based modelling for hopping robots
… complexity. This thesis introduces the notion of discrete actuation for the study of locomotion in robots and animals. The actuation of a system with discrete actuation is restricted to be applied at a finite number of instants in time and is impulsive. We find that, despite their simplicity, such …