Effect of rolling on running performance

摘要：

The present work investigates the effect of rolling contact during stance phase in running by relating the variation of foot curvature radii to running efficiency, stability and forward speed. Both a conservative reduced-order running model and one with a simple motor and friction model are used to simulate running with a rolling foot. We find that having a larger foot radius implies smoother peak vertical ground reaction forces. Increased foot radius also yields, up to a point, a larger region of stable gaits for the conservative system, and more stable, fast, and efficient gaits for the actuated version. These results motivate the design of a new set of legs to test these findings on a dynamic running platform.

作者: Jae Yun Jun Jonathan E. Clark

作者单位: Department of Mechanical Engineering,Florida State University,Tallahassee,FL,32310,USA

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 2009-2014

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）