One-legged locomotion with a compliant passive joint

Intelligent Autonomous Systems 9, IAS 2006

Volumn , Issue , 2006, Pages 566-573

  Rummel, Juergen ^a   Iida, Fumiya ^a,b   Seyfarth, Andre ^a  

^a FRIEDRICH SCHILLER UNIVERSITY JENA   (Germany)

^b UNIVERSITY OF ZURICH   (Switzerland)

Author keywords

Compliance; Feedforward control; Hopping; Legged locomotion; Morphological properties; Two segmented leg

Indexed keywords

COMPLIANCE; HOPPING; LEGGED LOCOMOTION; MORPHOLOGICAL PROPERTIES; TWO-SEGMENTED LEG;

FEEDFORWARD CONTROL; SENSORY FEEDBACK;

ENERGY EFFICIENCY;

EID: 37149044994     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (13)

1. Cavagna, G. A., Heglund, N. C. and Taylor, C. R., Mechanical work in terrestrial locomotion: two basic mechanisms of minimizing energy expenditure. Am. J. Physiology 233, R243-R261, 1977
2. Alexander, R. McN., Three uses for springs in legged locomotion, Int. J. Robotics Res., 9, Issue 2, 53-61, 1990
3. Blickhan, R., The spring-mass model for running and hopping. J. Biomech. 22, 1217-1227, 1989
4. McMahon, T. A. and Cheng, G. C., The mechanics of running: how does stiffness couple with speed? J. Biomech. 23, 65-78, 1990
5. Raibert, M. H., Legged Robots That Balance, The MIT Press, Cambridge, 1986
6. Cham, J. G., Bailey, S. A., Clark, J. E., Full, R. J. and Cutkosky, M. R., Fast and robust: hexapedal robots via shape deposition manufacturing, Int. J. Robotics Res. 21, No. 10, 869-883, 2002
7. Buehler, M., Saranli, U., Papadopoulos, D. and Koditschek, D., Dynamic locomotion with for and six-legged robots, Int. Symposium on Adaptive Motion of Animals and Machines, Montreal, 2000
8. Iida, F. and Pfeifer, R., Cheap rapid locomotion of a quadruped robot: self-stabilization of bounding gait. Intelligent Autonomous Systems 8, IOS Press, 642-649, 2004
9. Fukuoka, Y., Kimura, H. and Cohen, A. H., Adaptive dynamic walking of a quadruped robot on irregular terrain based on biological concepts, Int. J. Robotics Res. 22, No. 3-4, 187-202, 2003
10. Zhang, Z. G., Fukuoka, Y. and Kimura, H., Stable quadrupedal running based on a spring-loaded two-segment legged model, Proc. ICRA2004, 2601-2606, 2004
11. Guenther, M., Computersimulationen zur Synthetisierung des muskulaer erzeugten men-schlichen Gehens unter Verwendung eines biomechanischen Mehrkoerpermodells. PhD Thesis, University of Jena, 1997
12. Altendorfer, R., Moore, N., Komsuoglu, H., Buehler, M., Brown Jr., H. B., McMordie, D., Saranli, U., Full, R. J. and Koditschek, D. E., RHex: a biologically inspired hexapod runner, Autonom. Robots 11, 207-213, 2001
13. Seyfarth, A., Geyer, H., Guenther, M. and Blickhan, R., A movement criterion for running. J. Biomech 35, 649-655, 2002