Stable running with segmented legs

International Journal of Robotics Research

Volumn 27, Issue 8, 2008, Pages 919-934

  Rummel, Juergen ^a   Seyfarth, Andre ^a  

^a FRIEDRICH SCHILLER UNIVERSITY JENA   (Germany)

Author keywords

Knee joint stiffness; Nonlinear stiffness; Running; Self stability; SLIP; Spring mass model; Two segment leg

Indexed keywords

EIGENVALUES AND EIGENFUNCTIONS; JOINTS (ANATOMY);

EXTERNAL PERTURBATIONS; LEG COMPLIANCE; NON-LINEAR; RUNNING STABILITY; SPRING MASS MODELS;

SPRINGS (COMPONENTS);

EID: 48249155402     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364908095136     Document Type: Article

References (66)

1. Alexander, R.M. (1990). Optimum take-off techniques for high and long jumps. Philosophical Transactions of the Royal Society of London B-Biological Sciences, 329 (1252). 3-10.
2. Alexander, R.M. (2002). Tendon elasticity and muscle function. Comparative Biochemistry and Physiology-Part A: Molecular and Integrative Physiology, 133 (4). 1001-1011.
3. Altendorfer, R., Moore, N., Komsuoglu, H., Buehler, M., Brown, H.B., McMordie, D., Saranli, U., Full, R. and Koditschek, D.E. (2001). Rhex: a biologically inspired hexapod runner. Autonomous Robots, 11 (3). 207-213.
4. Arampatzis, A., Bruggemann, G.-P. and Metzler, V. (1999). The effect of speed on leg stiffness and joint kinetics in human running. Journal of Biomechanics, 32 (12). 1349-1353.
5. Bernstein, N.A. (1967). The Co-ordination and Regulation of Movements. Oxford, Pergamon Press.
6. Blickhan, R. (1989). The spring-mass model for running and hopping. Journal of Biomechanics, 22 (11-12). 1217-1227.
7. Blickhan, R., Seyfarth, A., Geyer, H., Grimmer, S., Wagner, H. and Gunther, M. (2007). Intelligence by mechanics. Philosophical Transactions of the Royal Society A, 365 (1850). 199-220.
8. Blum, Y., Rummel, J. and Seyfarth, A. (2007). Advanced swing leg control for stable locomotion. Proceedings of Fachgespraeche Autonome Mobile Systeme, Kaiserslautern, Germany. Berlin, Springer, pp. 301-307.
9. Bullimore, S.R. and Burn, J.F. (2006). Consequences of forward translation of the point of force application for the mechanics of running. Journal of Theoretical Biology, 238 (1). 211-219.
10. Cavagna, G.A., Heglund, N.C. and Taylor, C.R. (1977). Mechanical work in terrestrial locomotion: two basic mechanisms for minimizing energy expenditure. American Journal of Physiology, 233 (5). 243-261.
11. Collins, S.H., Ruina, A., Tedrake, R.L. and Wisse, M. (2005). Efficient bipedal robots based on passive-dynamic walking. Science, 307 (5712). 1082-1085.
12. Daley, M.A., Felix, G. and Biewener, A.A. (2007). Running stability is enhanced by a proximo-distal gradient in joint neuromechanical control. Journal of Experimental Biology, 210 (3). 383-394.
13. De Lasa, M. and Buehler, M. (2001). Dynamic compliant quadruped walking. Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, Korea, pp.3153-3158.
14. De Wit, B., De Clercq, D. and Aerts, P. (2000). Biomechanical analysis of the stance phase during barefoot and shod running. Journal of Biomechanics, 33 (3). 269-278.
15. Dickinson, M.H., Farley, C.T., Full, R.J., Koehl, M.A., Kram, R. and Lehman, S. (2000). How animals move: an integrative view. Science, 288 (5463). 100-106.
16. Farley, C.T., Glasheen, J. and McMahon, T.A. (1993). Running springs: speed and animal size. Journal of Experimental Biology, 185: 71-86.
17. Farley, C.T. and Gonzalez, O. (1996). Leg stiffness and stride frequency in human running. Journal of Biomechanics, 29 (2). 181-186.
18. Farley, C.T. and Morgenroth, D.C. (1999). Leg stiffness primarily depends on ankle stiffness during human hopping. Journal of Biomechanics, 32 (3). 267-273.
19. Full, R.J. and Koditschek, D.E. (1999). Templates and anchors: neuromechanical hypotheses of legged locomotion on land. Journal of Experimental Biology, 202 (23). 3325-3332.
20. Geppert, L. (2004). QRIO: the robot that could. IEEE Spectrum, 41 (5). 34-37.
21. Geyer, H., Seyfarth, A. and Blickhan, R. (2003). Positive force feedback in bouncing gaits? Proceedings of the Royal Society of London B-Biological Sciences, 270 (1529). 2173-2183.
22. Geyer, H., Seyfarth, A. and Blickhan, R. (2005). Spring-mass running: simple approximate solution and application to gait stability. Journal of Theoretical Biology, 232 (3). 315-328.
23. Geyer, H., Seyfarth, A., and Blickhan, R. (2006). Compliant leg behaviour explains basic dynamics of walking and running. Proceedings of the Royal Society of London B-Biological Sciences, 273 (1603). 2861-2867.
24. Gielen, C.C.A.M., van Bolhuis, B.M. and Theeuwen, M. (1995). On the control of biologically and kinematically redundant manipulators. Human Movement Science, 14 (4-5). 487-509.
25. Gruber, K., Ruder, H., Denoth, J. and Schneider, K. (1998). A comparative study of impact dynamics: wobbling mass model versus rigid body models. Journal of Biomechanics, 31 (5). 439-444.
26. Guenther, M. and Blickhan, R. (2002). Joint stiffness of the ankle and the knee in running. Journal of Biomechanics, 35 (11). 1459-1474.
27. Hansen, A.H., Childress, D.S., Miff, S.C., Gard, S.A. and Mesplay, K.P. (2004). The human ankle during walking: implications for design of biomimetic ankle prostheses. Journal of Biomechanics, 37 (10). 1467-1474.
28. Hreljac, A. (1993). Preferred and energetically optimal gait transition speeds in human locomotion. Medicine and Science in Sports and Exercise, 25 (10). 1158-1162.
29. Hurst, J.W., Chestnutt, J.E. and Rizzi, A.A. (2004). An actuator with physically variable stiffness for highly dynamic legged locomotion. In Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, LA, pp. 4662-4667.
30. Hurst, J.W., Chestnutt, J.E. and Rizzi, A.A. (2007). Design and philosophy of the BiMASC, a highly dynamic biped. Proceedings of the IEEE International Conference on Robotics and Automation, Roma, Italy, pp. 1863-1868.
31. Iida, F. and Pfeifer, R. (2004). Cheap rapid locomotion of a quadruped robot: Self-stabilization of bounding gait. Proceedings of the International Conference on Intelligent Autonomous Systems, Amsterdam, The Netherlands, pp. 642-649.
32. Iida, F. and Pfeifer, R. (2006). Sensing through body dynamics. Robotics and Autonomous Systems, 54 (8). 631-640.
33. Iida, F., Rummel, J. and Seyfarth, A. (2007). Bipedal walking and running with compliant legs. Proceedings of the IEEE International Conference on Robotics and Automation, Roma, Italy, pp. 3970-3975.
34. Ker, R.F. (1981). Dynamic tensile properties of the plantaris tendon of sheep (Ovis aries). Journal of Experimental Biology, 93: 283-302.
35. Knuesel, H., Geyer, H. and Seyfarth, A. (2005). Influence of swing leg movement on running stability. Human Movement Science, 24: 532-543.
36. Kuitunen, S., Komi, P.V. and Kyrolainen, H. (2002). Knee and ankle joint stiffness in sprint running. Medicine and Science in Sports and Exercise, 34 (1). 166-173.
37. Lohmeier, S., Loffler, K., Gienger, M., Ulbrich, H. and Pfeiffer, F. (2004). Computer system and control of biped "Johnnie". Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, LA, pp. 4222-4227.
38. McGeer, T. (1990). Passive dynamic walking. International Journal of Robotics Research, 9 (2). 62-82.
39. McMahon, T.A. and Cheng, G.C. (1990). The mechanics of running: how does stiffness couple with speed ? Journal of Biomechanics, 23 (1). 65-78.
40. Moehl, B. (2003). A composite drive with seperate control of force and position. Proceedings of the International Conference on Advanced Robotics, Coimbra, Portugal, pp. 1606-1610.
41. Neville, N., Buehler, M. and Sharf, I. (2006). A bipedal running robot with one actuator per leg. Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, Florida, pp. 848-853.
42. Palmer, L.R., Orin, D.E., Marhefka, D.W., Schmiedeler, J.P. and Waldron, K.J. (2003). Intelligent control of an experimental articulated leg for a galloping machine. Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, pp. 3821-3827.
43. Park, J.H. and Chung, H. (1999). Hybrid control for biped robots using impedance control and computed-torque control. Proceedings of the IEEE International Conference on Robotics and Automation, Detroit, MI, pp. 1365-1370.
44. Poulakakis, I. and Grizzle, J.W. (2007). Monopedal running control: SLIP embedding and virtual constraint controllers. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, pp. 323-330.
45. Poulakakis, I., Smith, J.A. and Buehler, M. (2003). On the dynamics of bounding and extensions: towards the half-bound and gallop gaits. Proceedings of the International Symposium on Adaptive Motion of Animals and Machines, Kyoto, Japan, pp. 79-88.
46. Pratt, J.E. (2000). Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots. PhD Thesis, Cambridge, MA, Massachusetts Institute of Technology.
47. Raibert, M.H. (1986). Legged Robots that Balance. Cambridge, MA, The MIT Press.
48. Rummel, J., Iida, F. and Seyfarth, A. (2006). One-legged locomotion with a compliant passive joint. Proceedings of the International Conference on Intelligent Autonomous Systems Tokyo, Japan, pp. 566-573.
49. Sakagami, Y., Watanabec, R., Aoyama, C., Matsunaga, S., Higaki, N. and Fujimura, K. (2002). The intelligent ASIMO: system overview and integration. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, pp. 2478-2483.
50. Schmiedeler, J.P. (2001). The mechanics of and robotic design for quadrupedal galloping. PhD Thesis, Columbus, OH, Ohio State University.
51. Schmitt, J. and Holmes, P. (2000). Mechanical models for insect locomotion: dynamics and stability in the horizontal plane I. theory. Biological Cybernetics, 83 (6). 501-515.
52. Schwind, W.J. and Koditschek, D.E. (1997). Characterization of monoped equilibrium gaits. Proceedings of the IEEE International Conference on Robotics and Automation, Albuqerque, NM, pp. 1986-1992.
53. Seyfarth, A., Blickhan, R. and Van Leeuwen, J.L. (2000). Optimum take-off techniques and muscle design for long jump. Journal of Experimental Biology, 203 (4). 741-750.
54. Seyfarth, A., Geyer, H., Blickhan, R., Lipfert, S., Rummel, J., Minekawa, Y. and Iida, F. (2006 a). Running and walking with compliant legs. Fast Motions in Biomechanics and Robotics: Optimization and Feedback Control, Diehl, M. and Mombaur, K. (eds). Heidelberg, Springer, pp. 383-402.
55. Seyfarth, A., Geyer, H., Guenther, M. and Blickhan, R. (2002). A movement criterion for running. Journal of Biomechanics, 35 (5). 649-655.
56. Seyfarth, A., Geyer, H. and Herr, H. (2003). Swing-leg retraction: a simple control model for stable running. Journal of Experimental Biology, 206 (15). 2547-2555.
57. Seyfarth, A., Guenther, M. and Blickhan, R. (2001). Stable operation of an elastic three-segment leg. Biological Cybernetics, 84 (5). 365-382.
58. Seyfarth, A., Kalveram, K.T. and Geyer, H. (2007). Simulating muscle-reflex dynamics in a simple hopping robot. Proceedings of Fachgespraeche Autonome Mobile Systeme 2007, Kaiserslautern, Germany. Berlin, Springer, pp. 294-300.
59. Seyfarth, A., Tausch, R., Stelzer, M., Iida, F., Karguth, A. and Von Stryk, O. (2006 b). Towards bipedal running as a natural result of optimizing walking speed for passively compliant three-segmented legs. Proceedings of the International Conference on Climbing and Walking Robots, Brussels, Belgium.
60. Tskhovrebova, L., Trinick, J., Sleep, J.A. and Simmons, R.M. (1997). Elasticity and unfolding of single molecules of the giant muscle protein titin. Nature, 387 (6630). 308-312.
61. Van Ham, R. (2006). Compliant actuation for biological inspired bipedal walking robots. PhD Thesis, Brussels, Belgium, Vrije Universiteit.
62. Van Ham, R., Vanderborght, B., Van Damme, M. Verrelst, B., and Lefeber, D. (2007). MACCEPA, the mechanically adjustable compliance and controllable equilibrium position actuator: Design and implementation in a biped robot. Robotics and Autonomous Systems, 55 (10). 761-768.
63. Van Ingen Schenau, G.J. (1989). From rotation to translation: implications for theories of motor control: response to reactions. Human Movement Science, 8 (4). 423-442.
64. Verrelst, B., Daerden, F., Lefeber, D., Van Ham, R. and Fabri, T. (2000). Introducing pleated pneumatic artificial muscles for the actuation of legged robots: a one-dimensional setup. Proceedings of the International Conference on Climbing and Walking Robots, Madrid, Spain, pp. 583-590.
65. Wagner, H. and Blickhan, R. (1999). Stabilizing function of skeletal muscles: an analytical investigation. Journal of Theoretical Biology, 199 (2). 163-179.
66. Zhang, G., Fukuoka, Y. and Kimura, H. (2004). Stable quadrupedal running based on a spring-loaded two-segment legged model. Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, LA, pp.2601-2606.