Departmental Papers (ESE)


The authors construct a simplified model of a dynamically dexterous robot, M.H. Raibert's hopper, and investigate its elegant, physically based control strategies. Analysis of induced discrete dynamics leads to strong conclusions concerning global limiting properties. These conclusions are then verified by computer simulation of the simplified models, the correspondence of which to the true physical apparatus is seen to be acceptable as well.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

April 1988


Copyright 1988 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, Volume 2, 1988, pages 817-819.

This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to By choosing to view this document, you agree to all provisions of the copyright laws protecting it.

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



Date Posted: 06 June 2008

This document has been peer reviewed.