Supervisors:

In this thesis, a new type of hopping robot with a curved foot has been de-veloped. The robot is self-stable and is operated using feedforward control. By building a detailed physical model using the Newton-Euler equations and implementing it numerically, the robot’s abilities and dynamics were investi-gated. The ground contact model was realized by using a Newtonian kinematic impact- and a Coulomb frictional law. Subsequently, a prototype of the robot was planned and built. Experimental verification showed matching results with the simulation. Parameter analyses based on a series of simulations were per-formed, and revealed the intrinsic dynamical nature of the non-linear system. The jumping angle of the robot’s center of mass at take-off was found to be a highly useful parameter in terms of efficiency- and stability analysis. Further-more, stable hopping patterns with a small standard deviation of the take-off angle showed the highest locomotion efficiency. Finally, a geometrical parameter for feedforward speed control was discovered and is presented in this thesis