Improved Efficiency in Legged Running Using Lightweight Passive Compliant Feet
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.
Record created on 2012-08-27, modified on 2016-08-09