Height Control of One-Legged Hopping Robot Using 1D and 2D Models

Jan 16, 2026

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This report presents research by Kale Harbick and Gaurav S. Sukhatme on controlling the hopping height of a pneumatic monopod robot. Using both one-dimensional and two-dimensional models, the team from the Institute for Robotics and Intelligent Systems at the University of Southern California explores innovative methodologies for achieving stable hopping height in a single-legged robotic system. The findings, detailed in technical reports IRIS-01-405 and IRIS-01-406, contribute to advancements in robotic control systems.

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Height Control of One-Legged Hopping Robot Using 1D and 2D Models

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http://robotics.usc.edu/~kale/hopper.html kale@robotics.usc.edu Robotic Embedded Systems Lab 1d Model 2d Model GUI screenshot • Kale Harbick and Gaurav S. Sukhatme. Height control for a one-legged hopping robot using a one-dimensional model. Technical Report IRIS-01-405, Institute for Robotics and Intelligent Systems, University of Southern California, 2001. • Kale Harbick and Gaurav S. Sukhatme. Height control for a one-legged hopping robot using a two-dimensional model. Technical Report IRIS-01-406, Institute for Robotics and Intelligent Systems, University of Southern California, 2001. • Kale Harbick and Gaurav S. Sukhatme. Controlling hopping height of a pneumatic monopod. Submitted for review to ICRA 2002.