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Stable running with a two-segment compliant leg

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Abstract

This research presents a two-segment compliant leg model for understanding fast running locomotion of animals and extending to quadruped robot later. We introduce an approach toward a full understanding of the model by investigating the energy of the system and constructing a set of data, called Limit Cycle Set. The set is computed via optimization procedures and includes all the configurations of the model that contribute to its periodic, stable running locomotion. By introducing the creative design of the configurations, the two-segment compliant model is sufficiently general to be extended to other similar two-segment leg models. Along with the computation, we investigate the system stability and discover that it is possible to achieve stability of a compliant leg in real environments with a simple control strategy. The stable motion is successfully validated in real experiments.

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Acknowledgements

This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIP) (No. 2014R1A2A2A01005241).

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Authors and Affiliations

  1. School of Mechanical Engineering, Sungkyunkwan University, CheoncheonDong 300, Jangan-gu, Suwon, Gyeonggi-do, 440-746, Korea

    Luong Tin Phan, Yoon Haeng Lee, Dong Youn Kim, Hyunyong Lee & Hyouk Ryeol Choi

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  1. Luong Tin Phan
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  2. Yoon Haeng Lee
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  3. Dong Youn Kim
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  4. Hyunyong Lee
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  5. Hyouk Ryeol Choi
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Correspondence to Hyouk Ryeol Choi.

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Phan, L.T., Lee, Y.H., Kim, D.Y. et al. Stable running with a two-segment compliant leg. Intel Serv Robotics 10, 173–184 (2017). https://doi.org/10.1007/s11370-017-0218-9

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  • DOI: https://doi.org/10.1007/s11370-017-0218-9

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