Natural control of spring-like running: Optimised selfstabilisation
Conference Paper, Proceedings of 5th International Conference on Climbing and Walking Robots (CLAWAR '02), pp. 81 - 85, September, 2002
Abstract
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.
BibTeX
@conference{Seyfarth-2002-102691,author = {Andre Seyfarth and Hartmut Geyer},
title = {Natural control of spring-like running: Optimised selfstabilisation},
booktitle = {Proceedings of 5th International Conference on Climbing and Walking Robots (CLAWAR '02)},
year = {2002},
month = {September},
editor = {P Bidaud and FB Amar},
pages = {81 - 85},
publisher = {Professional Engineering Publishing Ltd., London},
}
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