ICRA'09 Paper Abstract


Paper FrA7.2

Jun, Jae Yun (Florida State University), Clark, Jonathan (Florida State University)

Dynamic Stability of Variable Stiffness Running

Scheduled for presentation during the Regular Sessions "Dynamics" (FrA7), Friday, May 15, 2009, 08:50−09:10, Room: 405

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Dynamics, Biologically-Inspired Robots, Legged Robots and Humanoid Locomotion


Humans and animals adapt their leg impedance during running for both internal(e.g. loading) and external(e.g.surface) changes. In this paper we examine the relationship between leg stiffness and the speed and stability of dynamic legged locomotion. We utilize a torque-driven reduced-order model of running based on a successful family of running robots to show how optimal clock-driven controllers can interact with variably compliant limbs to adapt to changing operating conditions. We show that the leg stiffness adaptation gives, in general, better stability results than simply optimizing the gait controller and nearly as good as the co-optimization of controller and leg stiffness.



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