哈尔滨工业大学工学硕士学位论文 foundation for further optimization and improvement. Keywords:frog-inspired hopping leg,pneumatic muscle,muscle model,position control,fuzzy control哈尔滨工业大学工学硕士学位论文 III foundation for further optimization and improvement. Keywords: frog-inspired hopping leg, pneumatic muscle, muscle model, position control, fuzzy control