Dynamic Running Biped

Figure 1. Experimental test bed for the analysis and optimization of curved C-legs and various other designs for robotic running platforms

The present work investigates the effect of rolling contact during stance phase in running by relating the variation of foot curvature radii 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 motivate the design of a new set of legs to test these findings on a dynamic running platform.

Videos

Bipedal Running

Publications

Jun, J. and Clark, J., "A Reduced-Order Dynamical Model for Running with Curved Legs," IEEE International Conference on Robotics and Automation, Saint Paul, Minnesota, USA, May 14-18, 2012.

Jun, J., and Clark, J., "Effect of rolling on running performance", IEEE International Conference on Robotics and Automation, Shanghai, China, May 9-13, 2011

Jun, J., Haldane, D., and Clark, J., "Compliant Leg Shape, Reduced-Order Models and Dynamic Running," 12th International Symposium on Experimental Robotics, New Delhi, India, December 18-21, 2010.

Jun, J., Clark, J.E., “Dynamic Stability of Variable Stiffness Running” IEEE International Conference on Robotics and Automation, Kobe, Japan, May 12-17, 2009.