Simulation and Control of monopod hopping
In this work, the strategies for hopping were applied on simulated planar one legged model to obtain velocity and direction control. The leg consists of three links with PD controlled actuators, the foot is rigid and assumed to be pointed, while the ground is assumed to be compliant. Two types of realistic foot ground interaction models were used which provided continuous forces and allowed slipping of leg on ground. Simulation results showed that the monopod hopping without falling was achieved successfully using both the foot ground interaction models. The monopod was able to hop periodically with the speed of 20 kmph for longer distance without falling. The velocity control and change of stable state were possible using the proposed control methodology for forward and backward hopping.