Leg Design and Control for Fast Locomotion
نویسندگان
چکیده
Motivation: A linear spring-like leg behavior is found in human and animal running [4, 2]. Although some technical systems were able to mimic running with such elastic legs within a range of different speeds and gaits [7, 8] it is still not known why biological legs employ this behavior. Until now there is no running robot with segmented legs. With regard to the reduced contact times at high speeds a smart design of the actuators and material properties and a careful selection of the leg geometry (segmentation, intersegmental angular arrangement) becomes crucial for stable running.
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