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—Running is a complex dynamic task that places strict requirements on both the physical components and software-control systems of a robot. This paper explores some of those requirements and, in particular, explores how a variable-compliance actuation system can satisfy many of them. We present the mechanical design and software-control system for such an(More)
— Running is a complex dynamical task which places strict design requirements on both the physical components and software control systems of a robot. This paper explores some of those requirements and illustrates how a variable compliance actuation system can satisfy them. We present the design, analysis, simulation, and benchtop experimental validation of(More)
— This paper discusses the design principles and philosophy of the BiMASC, a biped with Mechanically Adjustable Series Compliance which incorporates tuned mechanical leg springs. This robot will be capable of dynamic running using mechanical leg springs, as well as dynamic ballistic walking with human-like passive leg swing behavior. The BiMASC will enable(More)
— This paper introduces MABEL, a new platform for the study of bipedal locomotion in robots. One of the purposes of building the mechanism is to explore a novel pow-ertrain design that incorporates compliance, with the objective of improving the power efficiency of the robot, both in steady state operation and in responding to disturbances. A second purpose(More)
This paper presents a methodology for achieving efficient multi-domain underactuated bipedal walking on compliant robots by formally emulating gaits produced by the Spring Loaded Inverted Pendulum (SLIP). With the goal of achieving locomotion that displays phases of double and single support, a hybrid system model is formulated that faithfully represents(More)
In this paper, we present a novel control strategy for running which is robust to disturbances, and makes excellent use of passive dynamics for energy economy. Our strategy combines two ideas: an existing flight phase policy, and a novel stance phase impulse control policy. The state-of-the-art flight phase policy commands a leg angle trajectory that(More)
— For robotic manipulation tasks in uncertain environments , good force control can provide significant benefits. The design of force-controlled actuators typically revolves around developing the best possible software control strategy. Discussions about the passive dynamics are often imprecise, lacking comprehensive details about the physical limitations.(More)