Running over unknown rough terrain with a one-legged planar robot.

  title={Running over unknown rough terrain with a one-legged planar robot.},
  author={B.P.E. David Andrews and Bruce D. Miller and John Schmitt and Jonathan E. Clark},
  journal={Bioinspiration \& biomimetics},
  volume={6 2},
The ability to traverse unknown, rough terrain is an advantage that legged locomoters have over their wheeled counterparts. However, due to the complexity of multi-legged systems, research in legged robotics has not yet been able to reproduce the agility found in the animal kingdom. In an effort to reduce the complexity of the problem, researchers have developed single-legged models to gain insight into the fundamental dynamics of legged running. Inspired by studies of animal locomotion… 
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Terrestrial robots must be capable of negotiating rough terrain if they are to become autonomous outside of the lab. Although the control mechanism offered by wheels is attractive in its simplicity,
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This dissertation focuses on the extension of a dynamic scaling method for dynamical legged systems, the assessment of dynamic stability metrics for use on experimental platforms and the design and characterization of the first legged, robotic platform capable of dynamical, biologically-inspired locomotion in multiple domains.
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  • F. Peuker, A. Seyfarth, S. Grimmer
  • Engineering
    2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)
  • 2012
Spring-like leg behavior is found in the global dynamics of human and animal running. The corresponding template model, the conservative spring-loaded inverted pendulum (SLIP), shows stability for a
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