|Title||The effects of swing-leg retraction on running performance: analysis, simulation, and experiment|
|Publication Type||Journal Article|
|Year of Publication||2015|
|Authors||Karssen, J. G. D., M. Haberland, M. Wisse, and S. Kim|
|Date Published||December 2015|
Using simple running models, researchers have argued that swing-leg retraction can im- prove running robot performance. In this paper, we investigate whether this holds for a more realistic simulation model validated against a physical running robot. We find that swing-leg retraction can improve stability and disturbance rejection. Alternatively, swing-leg retraction can simultaneously reduce touchdown forces, slipping likelihood, and impact energy losses. Surprisingly, swing-leg retraction barely affected net ener- getic efficiency. The retraction rates at which these effects are greatest are strongly model dependent, suggesting that robot designers cannot always rely on simplified mod- els to accurately predict such complex behaviors.