Abstract
In this paper, a hopping robot with an Intermittent mechanism has been developed and a control system has been designed for continuous hopping and constant hopping height. To generate impulsive force we proposed an mechanism that a motor pulls wire intermittently. We have shown that the relation of hopping height and impact timing is described by a linear discrete time system, and have designed a synchronous impact timing controller for constant jumping height. The effectiveness of the proposed controller has been shown by experiment.
