Hopping on Even Ground and Up Stairs with a Single Articulated Leg

@article{Guo2008HoppingOE,
  title={Hopping on Even Ground and Up Stairs with a Single Articulated Leg},
  author={Qinghong Guo and Chris J. B. Macnab and Jeff K. Pieper},
  journal={Journal of Intelligent and Robotic Systems},
  year={2008},
  volume={53},
  pages={331-358}
}
This paper presents a method for generating gaits for a one-legged articulated hopping robot. A static optimization procedure produces the initial joint velocities for the flight phase, using the principle of conservation of angular momentum and assuming (nearly) passive flight. Two novel objective functions for this static optimization enable one to choose different gaits by simply changing a few parameters. A dynamic optimization procedure yields a solution for the flight trajectory that… CONTINUE READING