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We present angle of attack control, a novel control strategy for a hipenergized Penn Jerboa. The energetic losses from damping are counteracted byaligning most of the velocity at touchdown in the radial direction and thefore-aft velocity is controlled by using the hip torque to control to a targetangular momentum. The control strategy results in highly asymmetric leg angletrajectories, thus avoiding the traction issues that plague hip actuated SLIP.Using a series of assumptions we find an analytical expression for the fixedpoints of an approximation to the hopping return map relating the designparameters to steady state gait performance. The hardware robot demonstratesstable locomotion with speeds ranging from 0.4 m/s to 2.5 m/s (2 leg lengths/sto 12.5 leg lengths/s) and heights ranging from 0.21 m to 0.27 m (1.05 leglengths to 1.35 leg lengths). The performance of the empirical trials is wellapproximated by the analytical predictions.

Technical Report: A New Hopping Controller for Highly Dynamical Bipeds