Variable Stiffness Legs for Robust, Efficient, and Stable Dynamic Running

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General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
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GRASP
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Electrical and Computer Engineering
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Systems Engineering
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Galloway, Kevin C.
Clark, Jonathan E.
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Humans and animals adapt their leg impedance during running for both internal (e.g., loading) and external (e.g., surface) changes. To date, the mechanical complexity of designing usefully robust tunable passive compliance into legs has precluded their implementation on practical running robots. This work describes the design of novel, structure-controlled stiffness legs for a hexapedal running robot to enable runtime modification of leg stiffness in a small, lightweight, and rugged package. As part of this investigation, we also study the effect of varying leg stiffness on the performance of a dynamical running robot. For more information: Kod*Lab

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2013-01-01
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BibTeX entry @article{Galloway-Journal_of_Mechanisms_and_Robots-2013, author = {Kevin C. Galloway and Jonathan E. Clark et al}, title = {Variable Stiffness Legs for Robust, Efficient, and Stable Dynamic Running}, booktitle = {Journal of Mechanisms and Robotics}, year = {2013}, month = {January}, } This work was partially supported by the NSF FIBR Grant #0425878 and the IC Postdoctoral Fellow Program under Grant no. HM158204–1−2030.
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