@inproceedings{30e64ba92e4947b6878da9795bb1207b,
title = "Control of hopping height for a one-legged hopping machine",
abstract = "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.",
author = "Joseph Prosser and Moshe Kam",
year = "1993",
language = "English (US)",
isbn = "0819410322",
series = "Proceedings of SPIE - The International Society for Optical Engineering",
publisher = "Publ by Society of Photo-Optical Instrumentation Engineers",
pages = "604--612",
booktitle = "Proceedings of SPIE - The International Society for Optical Engineering",
note = "Mobile Robots VII ; Conference date: 18-11-1992 Through 20-11-1992",
}