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.

In this article, dynamic equations of a single wheel robot, known as Gyrover, through Lagrange method applying a new approach will be addressed. There is no simplification on the dynamic analysis. Considering any possible differentiable function for the road’s curve, the effect of the road’s roughness is completely described in the dynamic equation evaluation. Although there are complicated relations between the wheel and rough terrain, due to the efficient generalized coordinate selection, closed form dynamic equation of the motion is derived. Because of the closed form formulation, required time for simulation will be reduced. From the proposed complete model a simplified model for the controller design could be extracted

In some tasks, a rigid robot manipulator handles a long, slender, and flexible tool, which usually has not been equipped with vibration measuring devices. This situation makes a difficult tool tip position control problem. In this paper, a new method will be presented for simultaneous tip position and vibration suppression control of a flexible tool on a rigid-link 3-DOF robot. This approach uses fuzzy logic rule-based controllers without using any sensor and actuator on the tool and with no a priori knowledge about the tool. Numerical simulation of robot and tool set has been accomplished and results support the fact that designed fuzzy controllers perform remarkably well in reducing vibrations and precision guidance of robot tool tip for tracking various trajectories.