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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...
he main contribution of this paper is a new step-time controller for a vertically hopping robot leg capable of meeting a demanded step-time instantaneously, meaning within a single hop.
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