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Open-loop control strategies for legged robot locomotion have been investigated by many researchers because of the advantages in terms of simplicity and robustness, although the influence of control inputs to locomotion performance is not fully clarified. This paper investigates two of the most basic forms of control input, sinusoidal and pulsed signals, to be used in a class of hopping robot based on parallel elastic actuation. Our results show that a pulsed torque outperforms its sinusoidaldoi:10.1109/tmech.2016.2539206 fatcat:nseh6zmtwza3vnrh6ey346kbpm