Departmental Papers (ESE)



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

Document Type

Journal Article

Subject Area

GRASP, Kodlab

Date of this Version



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.



Date Posted: 21 February 2014

This document has been peer reviewed.