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Operations Research, Systems Engineering and Industrial Engineering Commons

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2011

Departmental Papers (ESE)

Kodlab

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Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering

Experimental Investigations Into The Role Of Passive Variable Compliant Legs For Dynamic Robot Locomotion, Kevin C. Galloway, Jonathan E. Clark, Mark Yim, Daniel E. Koditschek May 2011

Experimental Investigations Into The Role Of Passive Variable Compliant Legs For Dynamic Robot Locomotion, Kevin C. Galloway, Jonathan E. Clark, Mark Yim, Daniel E. Koditschek

Departmental Papers (ESE)

Biomechanical studies suggest that animals’ abilities to tune their effective leg compliance in response to changing terrain conditions plays an important role in their agile, robust locomotion. However, despite growing interest in leg compliance within the robotics literature, little experimental work has been reported on tunable passive leg compliance in running machines. In this paper we present an empirical study into the role of leg compliance using a composite tunable leg design implemented on our dynamic hexapod, EduBot, with gaits optimized for running speed using a range of leg stiffnesses, on two different surface stiffnesses, and with two different payload ...