Control of hopping height for a one-legged hopping machine

Joseph Prosser, Moshe Kam

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

14 Scopus citations


The control of the hopping height in a one-legged machine is studied. The general aim is to decrease sensitivity of the hopping height to drifts in the machine's parameters. The proposed approach combines a near-inverse controller which uses height feedback, with a recursive least-squares parameter estimator which continually tunes the controller. The paper presents the mechanical design of the hopping leg, as well as simulations of its performance in tracking a piecewise-constant height reference. These simulations suggest that the resulting algorithm is both computationally feasible and robust to disturbances and drifts.

Original languageEnglish (US)
Title of host publicationProceedings of SPIE - The International Society for Optical Engineering
PublisherPubl by Society of Photo-Optical Instrumentation Engineers
Number of pages9
ISBN (Print)0819410322
StatePublished - 1993
Externally publishedYes
EventMobile Robots VII - Boston, MA, USA
Duration: Nov 18 1992Nov 20 1992

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
ISSN (Print)0277-786X


OtherMobile Robots VII
CityBoston, MA, USA

All Science Journal Classification (ASJC) codes

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering


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