In the scope of legged robotics, this study is about dynamical modelling and control of a single legged two degrees of freedom planar hopping robot while keeping the focus on the interaction forces between the robot and the ground based on a given ground contact model. Based on Raibert's three step algorithm, forward speed control is achieved by adjusting the foot position of the robot at touchdown and height control is achieved by adjusting the compression length of a linear spring. Using Newton-Euler based Spatial Operator Algebra (SOA) method, simulation results of the height control of hopping, forward speed control and the body attitude control of the robot are given in the paper.
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