# Dynamic modeling and control of hopping robot in planar space

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## Abstract

The paper presents two-mass inverted pendulum (TMIP) model and its control scheme for hopping robot. Unlike the conventional spring-loaded inverted pendulum (SLIP) model, the proposed TMIP model is able to provide the functions of energy storing and releasing by using a linear actuator. Also it becomes more accurate comparing to the conventional SLIP model by taking the foot mass into consideration. Furthermore how to determine both takeoff angle and velocity for hopping is analytically suggested to accomplish the desired stride and height of hopping robot. The control method for the TMIP model is also presented in the paper. Finally, the effectiveness of the proposed model and control scheme is verified through the simulation.

## Keywords

Hopping robot Dynamic cycle State transitions Kinematics Dynamics## Notes

### Acknowledgments

This work was supported in part by the ATC (Advanced Technology Center) project (10045906) funded by the Ministry of Trade, Industry and Energy (MTIE), and in part by the NRF (2013R1A1A2010192), and in part by the BK21 Plus Program (22A20130012806) funded by the Ministry of Education (MOE), Republic of Korea.

## Supplementary material

Supplementary material 1 (wmv 5530 KB)

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