The effects of swing-leg retraction on running performance: analysis, simulation, and experiment
Author(s)Karssen, J. G. Daniel; Haberland, Matt; Wisse, Martijn; Kim, Sangbae
MetadataShow full item record
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.
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering
Cambridge University Press
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.
Author's final manuscript