Adaptive height controller for an agile hopping robot

摘要

This paper addresses the problem of controlling the hopping height and stride length of a monoped hydraulic robot. Hopping over discontinuous, rough terrain with limited surfaces suitable for foot placement requires a controller capable of adjusting the hop height and landing foot position of the robot on each step. This motivates the need for an agile controller that uses the short window of time while the foot is on the ground (the stance phase) to exert the required action to reach the next landing position.