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Precise Hopping with Salto-1P

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 Science   |   Technology
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Salto-1P is a small monopedal jumping robot capable of continuous high-power hopping. We demonstrate a new control algorithm that can land Salto-1P's foot at particular spots on the ground like jumping on stepping stones or playing one-leg hopscotch. We call this "deadbeat foot placement hopping control". Precise foot placement enables Salto-1P to jump on surfaces like furniture. This work will be presented at the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems.

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