Observer Backstepping for Height Control of a Resonance Hopping Robot

  • Roemi Fernández
  • Teodor Akinfiev
  • Manuel Armada
Conference paper


This paper addresses the height control problem of a one-legged resonance hopping robot. The particular construction of the robot with compensation of energy losses during robot’s flight, the use of a special dual drive with changeable transmission ratio for allowing an additional decrease of energy spent, and the unavailability of part of the state for measurement, impose some specific requirements on the design of height controller. The proposed solution utilizes an observer based backstepping algorithm to produce a nonlinear controller that ensures asymptotic tracking of the desired law of motion. Simulations and experimental tests are carried out to validate the proposed control approach and to demonstrate the effectiveness and feasibility of the resonance hopping robot design.


Stance Phase Reference Trajectory Nonlinear Controller Virtual Control Nonlinear Observer 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Roemi Fernández
    • 1
  • Teodor Akinfiev
    • 1
  • Manuel Armada
    • 1
  1. 1.Spanish Council for Scientific Research. Automatic Control DepartmentIndustrial Automation InstituteArganda del Rey, MadridSpain

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