抄録
This paper is concerned with stabilization of the posture of a hopping robot via pole placement. In previous research, one of the authors proposed a designing method of the stabilizing law of by minimizing the spectral radius of the closed-loop poles. Though, it is preferable that the pole placements are assignable to change the behavior of the hopping robot. We have proposed a designing method to assign the pole placement by solving non-linear simultaneous equation. We have shown by simulations that the posture of the hopping robot can be stabilized by the proposed method.
