Trajectory planning and control of one-legged hopping robot at thrusting phase

Sho Sakaino, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review


One of the most important events for hopping robot is lift-off; the end of thrusting phase, since hopping motion often comes to be unstable at lift-off. Therefore, we focus on thrusting phase. In this research, we propose a new controller, which is combined two controllers. We also propose a trajectory planning so that a hopping robot follows command value of vertical velocity. The effectiveness of the proposed methods are confirmed by simulation and experiment.

Original languageEnglish
Pages (from-to)884-889+14
Journalieej transactions on industry applications
Issue number8
Publication statusPublished - 2007


  • Hopping height control
  • Hopping robot
  • Jumping robot
  • Thrust force

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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