Adaptive control of a spring-mass hopper

Ismail Uyanik, Uluç Saranli, Omer Morgül

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Scopus citations


Practical realization of model-based dynamic legged behaviors is substantially more challenging than statically stable behaviors due to their heavy dependence on second-order system dynamics. This problem is further aggravated by the difficulty of accurately measuring or estimating dynamic parameters such as spring and damping constants for associated models and the fact that such parameters are prone to change in time due to heavy use and associated material fatigue. In this paper, we present an on-line, model-based adaptive control method for running with a planar spring-mass hopper based on a once-per-step parameter correction scheme. Our method can be used both as a system identification tool to determine possibly time-varying spring and damping constants of a miscalibrated system, or as an adaptive controller that can eliminate steady-state tracking errors through appropriate adjustments on dynamic system parameters. We present systematic simulation studies to show that our method can successfully accomplish both of these tasks.

Original languageEnglish (US)
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Number of pages6
StatePublished - 2011
Externally publishedYes
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: May 9 2011May 13 2011

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Control and Systems Engineering


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