Publication:Improved Efficiency in Legged Running Using Lightweight Passive Compliant Feet

Publication: Improved Efficiency in Legged Running Using Lightweight Passive Compliant Feet


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  • Authors:
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    Hutter, M.; Holenstein, C.; Fenner, D.; Remy, C. D.; Hoepflinger, M. A.; Siegwart, R.
  • Presented at: 15th International Conference on Climbing and Walking Robot- CLAWAR 2012, Johns Hopkins University, USA, July 23 – 26, 2012
  • Publication date: 2012

This paper investigates the mechanical benefits of employing a passive foot segment to improve energetic efficiency in legged running. The proposed lightweight design significantly reduces impact and damping losses, while simultaneously allowing for a natural-looking stance configuration. Actuator in- put and ankle spring properties were optimized in simulation and successfully tested in 2D running experiments.

    Reference

    Posted on: August 27, 2012
    Keywords: , , ,