Abstract
Supporting the design process for running biped robots, analytical models are presented for two aspects of running: the duty factor (DF) of the gait, and the stiffness value of the leg. For a given running speed, an optimal DF exists that minimizes the energy expenditure. We present a formula for the optimal DF based on a model of the energetics, and the results are compared to both human data and simulation results. In addition, a model is presented for the stiffness value of the leg as a function of the physical properties, speed, and DF. The Gait Resonance Point is proposed as a design target for compliant running. At this point, the gait matches the spring resonance and the stiffness value becomes independent of the DF.
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Abdallah, M.E., Waldron, K.J. (2013). Duty Factor and Leg Stiffness Models for the Design of Running Bipeds. In: Kumar, V., Schmiedeler, J., Sreenivasan, S., Su, HJ. (eds) Advances in Mechanisms, Robotics and Design Education and Research. Mechanisms and Machine Science, vol 14. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00398-6_22
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DOI: https://doi.org/10.1007/978-3-319-00398-6_22
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