Natural control of spring-like running: Optimised selfstabilisation
نویسندگان
چکیده
In this study, the influence of leg rotation during the swing phase on the stability of running is addressed. Therefore, conservative spring-mass running was investigated using a return map of the apex height. A fixed angle of attack can already result in selfstabilised running as found previously. By examining the return maps of all possible angles of attack, a rotational leg control is derived adjusting a desired trajectory within one step and optimising running stability.
منابع مشابه
Natural dynamics of spring-like running: Emergence of selfstability
In this study, the stability of conservative spring-mass running using a fixed angle of attack is addressed. For a given initial condition, different angles of attack result in periodic movement patterns. We apply a simple stride-to-stride analysis to prove the stability. Spring-like leg operation together with angle of attack control enables selfstabilised running.
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