@inproceedings{18cb5f8a67aa47dbbb76653eaa64e649,
title = "Vertical control for a mechanical model of the one-legged hopping machine",
abstract = "A vertical control algorithm is proposed for a onelegged hopping machine. It differs from previous control algorithms in three areas: (i) it uses a nearinverse of the machine's dynamics; (ii) it uses discretetime output feedback, namely the hopping heights of previous cycles (rather than continuous full state feedback); and (iii) it employs a more realistic model of the hopping machine mechanical components. Numerical simulations are used to assess the ability of the controlled machine's to track a piecewise constant height trajectory. Specifically, we study the sensitivity of the design to deviations in the hopping machine's parameters.",
author = "Joseph Prosser and Moshe Kam",
year = "1992",
month = jan,
day = "1",
doi = "10.1109/CCA.1992.269886",
language = "English (US)",
series = "Proceedings of the 1st IEEE Conference on Control Applications, CCA 1992",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "136--141",
booktitle = "Proceedings of the 1st IEEE Conference on Control Applications, CCA 1992",
address = "United States",
note = "1st IEEE Conference on Control Applications, CCA 1992 ; Conference date: 12-09-1992 Through 16-09-1992",
}