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Passive dynamic running

  • Section 1: Control
  • Conference paper
  • First Online:
Experimental Robotics I

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 139))

Abstract

Previous work has considered how springy legs can improve the efficiency of the vertical motions of running, making them into resonant spring-mass oscillations that recycle energy from one step to the next. This paper considers how springy hips can be used to improve the efficiency of the legs' fore and aft swinging motions in running. We have studied a passive hopping machine model, composed of links, masses, and springs, but with no actuators. By tuning the mechanical parameters of the system and choosing appropriate initial conditions, we find reentrant trajectories for the system that coordinate the vertical body motions with the leg sweeping motions, and that accommodate ground interaction constraints. Data are presented from a computer simulation of the model.

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6 References

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Author information

Authors and Affiliations

  1. Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA

    Clay M. Thompson & Marc H. Raibert

Authors
  1. Clay M. Thompson
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  2. Marc H. Raibert
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Editor information

Vincent Hayward Oussama Khatib

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© 1990 Springer-Verlag

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Thompson, C.M., Raibert, M.H. (1990). Passive dynamic running. In: Hayward, V., Khatib, O. (eds) Experimental Robotics I. Lecture Notes in Control and Information Sciences, vol 139. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0042513

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  • DOI: https://doi.org/10.1007/BFb0042513

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-52182-2

  • Online ISBN: 978-3-540-46917-9

  • eBook Packages: Springer Book Archive

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