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How Quadrupeds Benefit from Lower Leg Passive Elasticity




Recently developed and fully actuated, legged robots start showing exciting locomotion capabilities, but rely heavily on high-power actuators, high-frequency sensors, and complex locomotion controllers. The engineering solutions implemented in these legged robots are much different compared to animals. Vertebrate animals share magnitudes slower neurocontrol signal velocities [1] compared to their robot counterparts. Also, animals feature a plethora of cascaded and underactuated passive elastic structures [2].

Author(s): Felix Ruppert and Alexander Badri-Spröwitz
Year: 2020
Month: May

Department(s): Dynamic Locomotion
Bibtex Type: Poster (poster)
Paper Type: Conference

Digital: True
Event Name: Dynamic Walking
Event Place: USA
URL: https://www.seas.upenn.edu/~posa/DynamicWalking2020/643-944-1-RV.pdf
Attachments: Abstract


  title = {How Quadrupeds Benefit from Lower Leg Passive Elasticity},
  author = {Ruppert, Felix and Badri-Spr{\"o}witz, Alexander},
  month = may,
  year = {2020},
  url = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/643-944-1-RV.pdf},
  month_numeric = {5}