Classified Index:TP242 U.D.C:681.5 Dissertation for the Master Degree in Engineering RESEARCH ON CONTROL SYSTEM OF FROG-INSPIRED HOPPING LEG POWERED BY PNEUMATIC MUSCLE Candidate: Jiao Leitao Supervisor: Prof.Zhao Jie Academic Degree Applied for: Master of Engineering Speciality: Mechatronics Engineering Affiliation: School of Mechatronics Engineering Date of Defence: July,2013 Degree-Conferring-Institution: Harbin Institute of TechnologyClassified Index: TP242 U.D.C: 681.5 Dissertation for the Master Degree in Engineering RESEARCH ON CONTROL SYSTEM OF FROG-INSPIRED HOPPINGLEG POWERED BY PNEUMATIC MUSCLE Candidate： Jiao Leitao Supervisor： Prof. Zhao Jie Academic Degree Applied for： Master of Engineering Speciality： Mechatronics Engineering Affiliation： School of Mechatronics Engineering Date of Defence： July, 2013 Degree-Conferring-Institution： Harbin Institute of Technology