@inproceedings{325684,
  title = {Control algorithms for a vertically-constrained one-legged hopping machine},
  booktitle = {Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on},
  year = {1993},
  month = dec,
  pages = {2688-2693 vol.3},
  keywords = {actuators, control algorithms, DC motor, DC motors, discrete hop-to-hop model, Error correction, feedback, integral error feedback, jumping, Leg, leg actuator, mechanical spring, mobile robots, near-inverse controller, parameter variation compensation, Prototypes, repeatable hopping, robot, spatial variables control, Springs, Steady-state, steady-state behavior, steady-state hopping height, tabular control scheme, Testing, transient behavior, tubes, vertically-constrained one-legged hopping machine, Weight control},
  doi = {10.1109/CDC.1993.325684},
  author = {Lebaudy, Andres and Presser, J. and Kam, Moshe}
}