Jae Yun Jun

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Humans and animals adapt their leg impedance during running for both internal(e.g. loading) and external(e.g. surface) changes. In this paper we examine the relationship between leg stiffness and the speed and stability of dynamic legged locomotion. We utilize a torque-driven reduced-order model of running based on a successful family of running robots to(More)
The present work investigates the effect of rolling contact during stance phase in running by relating the variation of foot curvature radii to running efficiency, stability and forward speed. Both a conservative reduced-order running model and one with a simple motor and friction model are used to simulate running with a rolling foot. We find that having a(More)
Some of the unique properties associated with running with curved legs or feet (as opposed to point-contact feet) are examined in this work, including the rolling contact motion, the change of the leg's effective stiffness and rest length, the shift of the effective flexion point along the leg, and the compliant-vaulting motions over its tiptoe during(More)
A skid-steering mobile robot steers by creating a moment that is larger than the frictional moment which results in a lateral slippage also known as skidding. This moment is in turn generated by a difference of the forces originated from the two sides of the robot. Tracking a given trajectory using this type of steering mechanism is not easy since it(More)
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