Robop (1996-1997)


Robop is a self-stabilizing hopping robot built in 1996. It has no active electronic sensors to use for feedback. The robot is self-stabilizing in that when the leg is driven in a proper feed-forward periodic motion, the physics of the robot has inherent dynamic stability. It is stable in hopping height and pitch and entrains to the driving frequency.

The unique feature which allows Robop to maintain dynamic stability is the curvature in the foot. This required curvature is a function of the robot's inertial properties and leg spring constant.

Although Robop is now retired from active research, it is still functional and is capable of being demonstrated.




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