Generalizing the hop: object-level programming for legged motion

A model-independent method for controlling a hopping robot is presented. The approach focuses on the interaction between the hopper and its surroundings at points of contact. It is only through reactions at contact points that a hopper can alter its momenta. A generalization of the virtual leg abstraction allows control programs to be expressed as constraints on the external forces and torques acting on the hopper. The relationship between the nature of the external contacts and motion control strategies is investigated. The approach was tested in simulation using the model-driven dynamic simulator Newton. The experiments demonstrate the utility of simulation for studying physical control problems. Through simulation, a broad range of design parameters can be easily tested to determine the limits of the control strategy