ICRA 2011 Paper Abstract


Paper TuP202.5

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

Effect of Rolling on Running Performance

Scheduled for presentation during the Regular Sessions "Legged Locomotion" (TuP202), Tuesday, May 10, 2011, 16:25−16:40, Room 3C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 29, 2020

Keywords Multi-legged Robots, Biologically-Inspired Robots, Passive Walking


The present work investigates the effect of rolling contact during stance phase in running by relating the variation of foot curvature to running efficiency, stability and forward speed. Both a conservative reduced-order running model and one with a simple motor and friction model are used to simulate running with a rolling foot. We find that having a larger foot radius implies smoother peak vertical ground reaction forces. Increased foot radius also yields, up to a point, a larger region of stable gaits for the conservative system, and more stable, fast, and efficient gaits for the actuated version. These results motive the design of a new set legs to test these findings on a dynamic running platform.



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