Control of a one-legged hopping robot using an inverse dynamic-based PID controller

This paper presents the mathematical modeling, simulation, design and control of a two degree of freedom one legged hopping robot that can jump in place with a novel form of actuation, which is simpler to model and control than those previously reported in the literature. The hopper is pneumatically actuated using an on/off control valve by means of pulse width modulation (PWM) technique. The dynamic stability of the hopper using a PID controller is investigated in detail. It is shown through computer simulations that the proposed controller effectively meets the system's performance requirements, i.e., achieving a constant jumping height after a number of jumping cycles