Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk
Dennis Ossadnik Elisabeth Jensen Sami Haddadin Dennis Ossadnik Elisabeth Jensen Sami Haddadin
Template models are frequently used to simplify the control dynamics for robot hopping or running. Passive limit cycles can emerge for such systems and be exploited for energy-efficient control. A grand challenge in locomotion is trunk stabilization when the hip is offset from the center of mass (CoM). The swing phase plays a major role in this process due to the moment of inertia of the leg; howe...