Towards Running Robots for Discontinuous Terrain

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Planar control is an important first step in the development of more complex running robots. This extended abstract describes a technique for control of a one-legged planar robot hopping over discontinuous surfaces. In simulations the robot is tasked with traversing across terrain which provides limited surface for foot placement. The robot has to hop between foot placement surfaces placed at varying distances and heights. The controller has to adjust leg landing angle and leg extension in order to produce the parabolic flight trajectory necessary to land at the next targeted foot placement spot.