Sharif Digital Repository

In the field of mobile robotics, legged locomotion plays an essential role in transporting robots over various terrain types. A significant portion of research on legged robots has been focused on one-legged robots. In contrast with different types of locomotion of multi-legged robots, one-legged robots have only one type of motion, called hopping. Hopping motion, as a type of hybrid behavior, is generally comprised of flight and stance phases. Dynamic stabilizing of hopping motion provides a challenging control problem because of its nonlinear and hybrid behavior. The majority of one-legged hopping robots investigated so far are only capable of hopping with one side of their leg. In this...