Investigating balance control of a hopping bipedal robot

Beichen Ding, Andrew Plummer, Pejman Iravani

Research output: Chapter or section in a book/report/conference proceedingChapter in a published conference proceeding

1 Citation (SciVal)
153 Downloads (Pure)


Legged robots are dynamic moving machines that are potentially able to traverse through rough terrain which is inaccessible for wheeled or tracked vehicles. For bipedal robots, balancing control while hopping/running is challenging, especially when the foot contact area is small. Servo hydraulics is highly suitable for robot leg actuation due to its high power density and good power-to weight ratio. This paper presents a controller for a hydraulically actuated bipedal robot, the Bath Bipedal Hopper (BBH). The controller follows the well-established structure of the ‘Three-part’ control algorithm. The three parts are: hopping height control; longitudinal velocity control by changing the leg angle during the flight phase to place the foot in the desired position; and body attitude correction during the stance phase. Simulation results from a detailed non-linear model indicate that this controller can successfully balance the hydraulic robot while hopping with different longitudinal velocities.
Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings
Subtitle of host publicationTAROS 2019
EditorsKaspar Althoefer, Jelizaveta Konstantinova, Ketao Zhang
PublisherSpringer Verlag
Number of pages12
ISBN (Print)9783030238063
Publication statusE-pub ahead of print - 28 Jun 2019
Event20th Towards Autonomous Robotic Systems Conference: TAROS 2019 - the Centre for Advanced Robotics@Queen Mary, London, UK United Kingdom
Duration: 3 Jul 20195 Jul 2019

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11649 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference20th Towards Autonomous Robotic Systems Conference
Country/TerritoryUK United Kingdom
Internet address


  • Balancing controller
  • Bipedal hopping robot
  • Hydraulic actuation

ASJC Scopus subject areas

  • Theoretical Computer Science
  • General Computer Science


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