| Title | The effects of swing-leg retraction on running performance: analysis, simulation, and experiment |
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| Publication Type | Journal Article |
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| Year of Publication | 2015 |
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| Date Published | December 2015 |
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| Authors | Karssen, J. G. D., M. Haberland, M. Wisse, and S. Kim |
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| Journal | Robotica |
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| Volume | 33 |
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| Pagination | 2137-2155 |
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| Issue | 10 |
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| Abstract | 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. |
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| DOI | 10.1017/S0263574714001167 |
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