This paper is a review of different aspects of research work on hopping motion of single-legged robots.
Thus, this leg spring arrangement played an important role in the hopping motion.
We have attempted to cover development of prototype models as well as theoretical models of such hopping systems.
Their first planar prototype demonstrated some limited hopping abilities.
They controlled hopping height with an open-loop controller.
Generally, one-legged hopping robots had nonlinear continuous-time dynamics with nonholonomic constraints.
Broadly, two types of legs have been used in single-legged hopping robots, namely, telescopic leg and articulated leg.
Singlelegged systems have simpler configurations and admit only one gait, namely, hopping.
