中文摘要：

传统的单足跳跃机器人高度控制多采用基于状态的控制方法，这种方法由于使用位置传感器，机械系统和控制系统都较为复杂．本文提出了一种只使用触地开关的基于时间事件的控制方法，简化了系统的设计．建立了包含气动特性的动力学模型，通过仿真分析了该控制方法的特点，在机器人样机上验证了算法的有效性．仿真和实验结果表明基于时间事件控制的机器人在保证系统具有相同稳定范围、收敛速度的同时，比基于状态事件控制的机器人更简单、跳跃高度调节更灵活．

英文摘要：

Most traditional single-legged hopping robots use state-based control algorithms in height control. Position sensor is used in these algorithms, which results in the complexity of mechanics and control systems. To simplify the system, a control algorithm based on time event is proposed, which only uses ground-touch switch, A dynamics model considering pneumatic features is developed, the characteristics of the control algorithm are analyzed through simulation, and its effectiveness is verified with a prototype robot. The simulation and experiment results show that the robot using the control method based on time event not only can ensure the same stable margin and convergence speed, but also has flexible adjustment ability of hopping height and a simple system structure compared with algorithms based on state event.