Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: In the present study,  investigate a control strategy for hopping motions of an articulated leg that is driven by series elastic actuation. A highly compliant spring in the knee joint allows the exploitation of periodic energy storage but creates a major control challenge by severely limiting the bandwidth of closed-loop position or force control. This handicap is intensified by slow actuators, substantial delays, and the kinematic coupling of the articulated design. With classic closed-loop control strategies failing, an adaptive open-loop control algorithm is presented, that, over a series of jumps, estimates the compression of the actuator springs, and gradually modifies the motor inputs in order to minimize slipping and create a purely vertical motion.
['Marco Hutter', 'C. David Remy', 'Roland Siegwart']
I am writing a research paper on a idea Adaptive control strategies for open-loop dynamic hopping
[{"from": "human", "value": "I am writing a research paper on a idea Adaptive control strategies for open-loop dynamic hopping"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: In the present study,  investigate a control strategy for hopping motions of an articulated leg that is driven by series elastic actuation. A highly compliant spring in the knee joint allows the exploitation of periodic energy storage but creates a major control challenge by severely limiting the bandwidth of closed-loop position or force control. This handicap is intensified by slow actuators, substantial delays, and the kinematic coupling of the articulated design. With classic closed-loop control strategies failing, an adaptive open-loop control algorithm is presented, that, over a series of jumps, estimates the compression of the actuator springs, and gradually modifies the motor inputs in order to minimize slipping and create a purely vertical motion."}]