Some complicated math problems for those absorbed with such matters, or for the rest of us, we can marvel at the video.
>>The controller uses what’s known in mathematics as a Taylor series approximation, which can be used to approximate answers to complex equations, including those governing forces acting on a point. The speed and direction of the hopping can be regulated by altering the way the robot lands. It also uses aerodynamic thrusters and an inertial tail to help control its altitude while in the air.<<
https://newatlas.com/salto-1p-hopping-robot/56677/