Template models of legged locomotion are powerful tools for gait analysis, but can also inspire robot design and control. In this paper, a spring-loaded inverted pendulum (SLIP) model is employed to control vertical hopping of a 2-segmented legged robot. Feed-forward and bio-inspired virtual model control using the SLIP model are compared. In the latter approach, the feedback control emulates a virtual spring between hip and foot. The results demonstrate similarity of human and robot hopping.

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... reover, the feedback control proves to simplify and improve hopping control. It yields better perturbation recovery and locomotion adaptation and is even easier to tune. Thus, human-like hopping is achievable using a rather simple template-based controller, which ensures the required performance, robustness and versatility.