Infoscience

Conference paper

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.

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