Departmental Papers (ESE)


A simplified lossless model of the Raibert planar hopper is introduced for the purpose of analytically studying the control of forward velocity. A closed-form return map describing the robot's state at the next hop as a function of that at the current hop is derived. The Raibert forward velocity controller is introduced and the fixed points of the closed loop system are characterized as well as the stability of these points. A new control law inspired by this analysis is introduced and compared with the Raibert control law.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

May 1995


Copyright 1995 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, Volume 1, 1995, pages 691-696.

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NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.



Date Posted: 03 June 2008

This document has been peer reviewed.