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IMPROVED EFFICIENCY IN LEGGED RUNNING USING LIGHTWEIGHT PASSIVE COMPLIANT FEET

By Marco Hutter, Claude Holenstein, Dario Fenner, C. David Remy, Mark A. Hoepflinger and Roland Siegwart

Abstract

This paper investigates the mechanical benefits of employing a passive foot segment to improve energetic efficiency in legged running. The proposed lightweight design significantly reduces impact and damping losses, while simultaneously allowing for a natural-looking stance configuration. Actuator input and ankle spring properties were optimized in simulation and successfully tested in 2D running experiments

Topics: compliant leg design, passive ankle joint, efficient hopping, SEA
Year: 2012
OAI identifier: oai:CiteSeerX.psu:10.1.1.352.5042
Provided by: CiteSeerX
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