Intelligent Systems
Note: This research group has relocated.

How Quadrupeds Benefit from Lower Leg Passive Elasticity

2020

Poster

dlg


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
Research Project(s): Animal-inspired robot legs
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
Poster

BibTex

@poster{ruppert2020b,
  title = {How Quadrupeds Benefit from Lower Leg Passive Elasticity},
  author = {Ruppert, Felix and Badri-Spr{\"o}witz, Alexander},
  month = may,
  year = {2020},
  doi = {},
  url = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/643-944-1-RV.pdf},
  month_numeric = {5}
}