Design and control of a two-mode monopod

Legged machines can traverse terrain unreachable by wheels or tracks. Similarly running machines have capabilities that exceed those of walking machines. The running machines constructed thus far have mainly served as existence proofs of various single locomotion modes. In this thesis we present a robot design that incorporates two locomotion modes, hopping and scooting, with a minimal number of actuators, and the added capability of being able to transition between modes as needed. We develop controllers for both modes and demonstrate their feasibility in simulation. We also present experimental results for a scooting robot.