... formula for the system’s Poincare Map and Jacobian. The observed behavior is validated experimentally in a physical pneumatically actuated hopping machine. This approach leads to observations on the stability of this and similar systems, revealing inherent limitations of open-loop hopping and providing...

... and Control Division April 13, 2000. Associate Editor: C. Rahn. 13 April 2000 10 05 2002 robot dynamics two-term control pendulums nonlinear control systems Poincare mapping Given the relatively small tolerances often associated with robotic and control applications...