Departmental Papers (ESE)

Streaming Media


We introduce an agility measure enabling the comparison of two very different leaping-from-rest transitions by two comparably powered but morphologically different legged robots. We use the measure to show that a flexible spine outperforms a rigid back in the leaping- from-rest task. The agility measure also sheds light on the source of this benefit: core actuation through a sufficiently powerful parallel elastic actuated spine outperforms a similar power budget applied either only to preload the spine or only to actuate the spine during the leap, as well as a rigid backed configuration of the identical machine.

Sponsor Acknowledgements

This work is supported by the National Science Foundation Graduate Research Fellowship under Grant No. DGE-0822, by the Army Research Laboratory under Cooperative Agreement Number W911NF-10–2−0016, and by the Fonds Quebecois de la Recherche sur la Nature et les Technologies B1 168461.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version


Bib Tex

@book{duperret_specificAgility_2016, author={Duperret,J. M. and Kenneally,G. D. and Pusey,J. L. and Koditschek,D. E.}, year={2016}, title={Towards a comparative measure of legged agility}, series={Springer Tracts in Advanced Robotics}, volume={109}, pages={3-16} }



Date Posted: 03 April 2017

This document has been peer reviewed.