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The proposed mechanism performs the hopping by transferring linear momentum between the reciprocating mass and its main body. The nonlinear equations of the motion of the robot are derived using the Euler\u2013Lagrange equations. To accomplish a stable jump, appropriate trajectories have been planned. To guarantee a stable response for this nonlinear system, a sliding-mode controller is implemented. The performance of the hopping robot is investigated through numerical simulations. The results confirm the stability of the hopping robot through the jump cycle on a flat surface and in climbing up and down ramp and stairs.<\/jats:p>","DOI":"10.1017\/s0263574720001447","type":"journal-article","created":{"date-parts":[[2021,1,13]],"date-time":"2021-01-13T06:40:32Z","timestamp":1610520032000},"page":"1692-1710","source":"Crossref","is-referenced-by-count":7,"title":["Dynamic Modeling and Control of a Novel One-Legged Hopping Robot"],"prefix":"10.1017","volume":"39","author":[{"given":"Amin","family":"Khakpour Komarsofla","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6615-8327","authenticated-orcid":false,"given":"Ehsan","family":"Azadi Yazdi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mohammad","family":"Eghtesad","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2021,1,13]]},"reference":[{"key":"S0263574720001447_ref6","unstructured":"6. 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