3-D balance in legged locomotion: modeling and simulation for the one-legged case

Abstract Using location information to help routing is often proposed as a means to achieve scalability in large mobilead-hoc networks. However, location based routing is difficult when there are holes in the network topology and nodesare mobile. Terminode routing, presented here, addresses these issues. It uses a combination of location based routing(Terminode Remote Routing, TRR), used when the destination is far, and link state routing (Terminode Local Routing,TLR), used when the destination is close. TRR uses anchored paths, a list of geographic points (not nodes) used asloose source routing information. Anchored paths are discovered and managed by sources, using one of two lowoverhead protocols: Friend Assisted Path Discovery and Geographical Map-based Path Discovery. Our simulationresults show that terminode routing performs well in networks of various sizes. In smaller networks, the performanceis comparable to MANET routing protocols. In larger networks that are not uniformly populated with nodes, terminoderouting outperforms existing location-based or MANET routing protocols.