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Spring-Legged Locomotion on uneven Ground: A Control Approach to keep the running Speed constant

We present a feedforward control for spring-legged systems in uneven terrain which keeps the running speed constant. The control uses the unique transformation between ground level and flight time to automatically adapt the system parameters during flight to the actual ground level without having to detect it. We further demonstrate how this control for constant speed running can simultaneously be combined with other control strategies in spring-legged systems to adapt their behavior to a desired locomotion task.