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The effects of swing-leg retraction on running performance: analysis, simulation, and experiment

  • J. G. Daniël Karssen (a1), Matt Haberland (a2), Martijn Wisse (a1) and Sangbae Kim (a2)
Summary

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.

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*Corresponding author. E-mail: mdhaber@mit.edu
References
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Robotica
  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
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