The effects of swing-leg retraction on running performance: analysis, simulation, and experiment
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SLRPaper_robotica_2col.pdf
Size
1.24 MB
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Adobe PDF
Checksum (MD5)
07c6054ba8c9043c9183400ea8010b92
Author(s)
Karssen, J. G. Daniel
Haberland, Matt
Wisse, Martijn
Kim, Sangbae
Date Issued
May 2014
Journal
Robotica
Publisher
Cambridge University Press
Citation
Karssen, J. G. Daniel, Matt Haberland, Martijn Wisse, and Sangbae Kim. “The Effects of Swing-Leg Retraction on Running Performance: Analysis, Simulation, and Experiment.” Robotica (May 28, 2014): 1–19.
Version
Author's final manuscript
Abstract
Using simple running models, researchers have argued that swing-leg retraction can improve running robot performance. In this paper, we investigate whether this holds for a more realistic simulation model validated against a physical running robot. We find that swing-leg retraction can improve stability and disturbance rejection. Alternatively, swing-leg retraction can simultaneously reduce touchdown forces, slipping likelihood, and impact energy losses. Surprisingly, swing-leg retraction barely affected net energetic efficiency. The retraction rates at which these effects are the greatest are strongly model-dependent, suggesting that robot designers cannot always rely on simplified models to accurately predict such complex behaviors.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1017/S0263574714001167
