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
  • Computer Science(all)


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