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.


Presented at:
15th International Conference on Climbing and Walking Robot- CLAWAR 2012, Johns Hopkins University, USA, July 23 – 26, 2012
Year:
2012
Keywords:
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 Record created 2012-08-27, last modified 2018-03-17

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