Heterogeneous Leg Stiffness and Roll in Dynamic Running - PowerPoint PPT Presentation

slide1 n.
Download
Skip this Video
Loading SlideShow in 5 Seconds..
Heterogeneous Leg Stiffness and Roll in Dynamic Running PowerPoint Presentation
Download Presentation
Heterogeneous Leg Stiffness and Roll in Dynamic Running

play fullscreen
1 / 1
Heterogeneous Leg Stiffness and Roll in Dynamic Running
113 Views
Download Presentation
talmai
Download Presentation

Heterogeneous Leg Stiffness and Roll in Dynamic Running

- - - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript

  1. Heterogeneous Leg Stiffness and Roll in Dynamic Running Sam Burden Electrical and Engineering, Univ. of Washington, Seattle, USAJon Clark, Joel Weingarten, Haldun Komsuoglu, Dan KoditschekElectrical and Systems Engineering, Univ. of Pennsylvania, Philadelphia, USA • Introduce bounding-in-place (“BIP”) template model for straight-ahead level-ground running. • Present numerical results that suggest asymmetric leg compliance ratios decrease time to recover from disturbances to roll motion. • Present preliminary experimental data which weakly corroborates numerical results. EduBot, a RHex-like hexapedal running robot.