Design and assembly of the SAHR monopod

Single Actuated Hopping Robot (SAHR)

2D simulation of a single-legged robot with a controller for regulating both the forward speed and the apex height of a one legged hopping robot, using only a single actuator. The control method is based on a dynamic model of the hopping robot and makes use of the dynamic coupling of the vertical and forward motions of the robot. The control is applied first to a simulated model of the robot and shown to track a desired forward robot speed and a desired apex height.

SAHR force sensing

Single Actuated Hopping Robot (SAHR)
Hopping experiment – Comparison with Gazebo Simulation

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