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

Sho Sakaino, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


One of the most important events for hopping robots is lift-off (the end of thrusting phase) since hopping motions often become unstable during the lift-off. Therefore, we focus on the thrusting phase. In this research, we propose a new controller, which combines two controllers. We also propose a trajectory planning so that a hopping robot follows command value of the vertical velocity. The effectiveness of the proposed methods is confirmed by simulation and experiments.

Original languageEnglish
Pages (from-to)29-36
Number of pages8
JournalElectrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
Issue number2
Publication statusPublished - 2009 Nov 15


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

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering


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