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Variable Stiffness Legs for Robust, Efficient, and Stable Dynamic Running

Journal of Mechanisms and Robotics, January 2013

Kevin C. Galloway*, Jonathan E. Clark†, D. E. Koditschek
*: Harvard University
†: Florida A&M University / Florida State University
‡: University of Pennsylvania

Full PDF | Web link | Penn Scholarly Commons

      Humans and animals adapt their leg impedance during running for both internal (e.g., loading) and external (e.g., surface) changes. To date, the mechanical complexity of designing usefully robust tunable passive compliance into legs has precluded their implementation on practical running robots. This work describes the design of novel, structure-controlled stiffness legs for a hexapedal running robot to enable runtime modification of leg stiffness in a small, lightweight, and rugged package. As part of this investigation, we also study the effect of varying leg stiffness on the performance of a dynamical running robot.
This work was partially supported by the NSF FIBR Grant #0425878 and the IC Postdoctoral Fellow Program under Grant no. HM158204–1−2030.
BibTeX entry
  author       = {Kevin C. Galloway and Jonathan E. Clark et al},
  title        = {Variable Stiffness Legs for Robust, Efficient, and Stable Dynamic Running},
  booktitle    = {Journal of Mechanisms and Robotics},
  year         = {2013},
  month        = {January},

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