IRIS-01-405

Height Control for a One-Legged Hopping Robot using a One-Dimensional Model

Kale Harbick and Gaurav S. Sukhatme

This paper describes a model-based height controller for a one-legged hopping robot. Equations of motion in one dimension (i.e. vertical) are developed. These equations are solved and numerically integrated to produce an actuator command that allows the robot to regulate its apex height. Within limits, the resulting control is effective for lateral hopping as well.