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Autonomous Mobile Systems 2012 pp 79–87Cite as

Grounded Running: An Overlooked Strategy for Robots

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Part of the book series: Informatik aktuell ((INFORMAT))

Abstract

In this paper, the possible advantages of using grounded running, a running gait without aerial phases, for fast robot locomotion are discussed. Extended fields of fixed points for grounded running, obtained using dimensionless numerical modeling, are presented. They can be used to find global parameters for the design and operation of robots. The use of self-stable (for steady-state locomotion) or weak unstable (to improve maneuverability-stability trade-off) gait-modes as a design parameter could represent a strategy to reduce the still existing gap between animals and mimicking machines with respect to elegance and performance.

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References

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Author information

Authors and Affiliations

  1. Science of Motion, Friedrich-Schiller-Universität, Jena, Germany

    Emanuel Andrada, Roy Müller, Christian Rode & Reinhard Blickhan

  2. Institut für Spezielle Zoologie und Evolutionsbiologie mit Phyletischem Museum, Friedrich-Schiller-Universität, Jena, Germany

    John Nyakatura

Authors
  1. Emanuel Andrada
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  2. John Nyakatura
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  3. Roy Müller
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  4. Christian Rode
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  5. Reinhard Blickhan
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Corresponding author

Correspondence to Emanuel Andrada .

Editor information

Editors and Affiliations

  1. Inst. Parallele und Verteilte Systeme, Universität Stuttgart, Universitätsstr. 38, Stuttgart, 70569, Germany

    Paul Levi

  2. , Inst. f. Parallele u. Verteilte Systeme, Universität Stuttgart, Universitätstr. 38, Stuttgart, 70569, Germany

    Oliver Zweigle

  3. , Inst. f. Parallele u. Verteilte Systeme, Universiät Stuttgart, Universitätsstr. 38, Stuttgart, 70569, Germany

    Kai Häußermann

  4. , Inst. f. Parallele u. Verteilte Systeme, Universität Stuttgart, Universitätsstr. 38, Stuttgart, 70569, Germany

    Bernd Eckstein

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© 2012 Springer-Verlag Berlin Heidelberg

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Andrada, E., Nyakatura, J., Müller, R., Rode, C., Blickhan, R. (2012). Grounded Running: An Overlooked Strategy for Robots. In: Levi, P., Zweigle, O., Häußermann, K., Eckstein, B. (eds) Autonomous Mobile Systems 2012. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32217-4_9

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  • DOI: https://doi.org/10.1007/978-3-642-32217-4_9

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-32216-7

  • Online ISBN: 978-3-642-32217-4

  • eBook Packages: EngineeringEngineering (R0)

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