Departmental Papers (ESE)


Streaming Media


We present the first fully spatial hopping gait of a 12 DoF tailed biped driven by only 4 actuators. The control of this physical machine is built up from parallel compositions of controllers for progressively higher DoF extensions of a simple 2 DoF, 1 actuator template. These template dynamics are still not themselves integrable, but a new hybrid averaging analysis yields a conjectured closed form representation of the approximate hopping limit cycle as a function of its physical and control parameters. The resulting insight into the role of the machine's kinematic and dynamical design choices affords a redesign leading to the newly achieved behavior.

Sponsor Acknowledgements

This work was supported in part by AFRL grant FA865015D1845 (subcontract 669737-1) and in part by ONR grant #N00014-16-1-2817, a Vannevar Bush Fellowship held by the last author, sponsored by the Basic Research Office of the Assistant Secretary of Defense for Research and Engineering.

Document Type

Conference Paper

Subject Area

Kodlab, GRASP

Date of this Version


Publication Source

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Start Page


Last Page





IEEE link

Bib Tex

@inproceedings{shamsah_analytically-guided_2018, title = {Analytically-{Guided} {Design} of a {Tailed} {Bipedal} {Hopping} {Robot}}, booktitle = {2018 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems} ({IROS})}, publisher = {IEEE}, author = {Shamsah, Abdulaziz and De, Avik and Koditschek, Daniel E}, year = {2018}, pages = {2237--2244}}



Date Posted: 22 January 2019

This document has been peer reviewed.