A Note on a Model Hopping Machine

A model of a statically unstable (one-legged) hopping machine is discussed. It is used to analyze whether and how well the control algorithms for systems with variable constraints can be employed in the engineering implementation of this machine. The results obtained indicate that the control algorithms make it possible to create a functioning machine with relatively simple components. The dynamical characteristics of this hopping machine are such that it can, for example, double the horizontal speed in two to three hops. This fact is interesting because a linear controller controls a nonlinear object.