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Running and Walking with Compliant Legs

  • A. Seyfarth
  • H. Geyer
  • R. Blickhan
  • S. Lipfert
  • J. Rummel
  • Y. Minekawa
  • F. Iida
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 340)

Abstract

It has long been the dream to build robots which could walk and run with ease. To date, the stance phase of walking robots has been characterized by the use of either straight, rigid legs, as is the case of passive walkers, or by the use of articulated, kinematically-driven legs. In contrast, the design of most hopping or running robots is based on compliant legs which exhibit quite natural behavior during locomotion.

Keywords

Ground Reaction Force Stance Phase Joint Torque Legged Robot Legged Locomotion 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer 2006

Authors and Affiliations

  • A. Seyfarth
    • 1
  • H. Geyer
    • 1
  • R. Blickhan
    • 2
  • S. Lipfert
    • 1
  • J. Rummel
    • 1
  • Y. Minekawa
    • 1
  • F. Iida
    • 1
    • 3
  1. 1.Locomotion LaboratoryUniversity of JenaJenaGermany
  2. 2.Science of MotionUniversity of JenaJenaGermany
  3. 3.Artificial Intelligence LaboratoryUniversity of ZurichZurichSwitzerland

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