Height Control for a One-Legged Hopping Robot using a Two-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 two dimensions (i.e. the sagittal plane) are developed. These equations are solved and numerically integrated to produce an actuator command that will allow the robot to regulate its apex height.