Departmental Papers (ESE)


We offer some preliminary analytical results concerning simplified models of Raibert’s hopper. We represent the task of achieving a recurring hopping height for an actuated “ball” robot as a stability problem in the setting of a nonlinear discrete dynamical system. We model the properties of Raibert’s control scheme in a simplified fashion, and provide conditions under which the procedure results in closed loop dynamics possessed of a globally attracting fixed point - the formal rendering of what we intuitively mean by a “correct” strategy. The motivation for this work is the hope that it will facilitate the development of general design principles for “dynamically dexterous” robots.

For more information: Kod*Lab

Document Type

Journal Article

Subject Area

GRASP, Kodlab

Date of this Version


Publication Source

International Journal of Robotics Research


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.

Bib Tex

@inproceedings{kod-yale-1988-0, title = {Analysis of a Simplified Hopping Robot}, author = {M. Buehler and D.E. Koditschek}, booktitle = {Center for Systems Science, Yale University}, year = {1988}, }



Date Posted: 03 May 2016

This document has been peer reviewed.