|RI | Thesis Proposal | 29 Sep 2005|
Robotics Institute Thesis Proposal 29 Sep 2005
Place and Time | Abstract | Further Details | Thesis Committee
The Role of Compliance in Legged Locomotion
Carnegie Mellon University
|Place and Time|
I propose to study the role of leg stiffness in running through mathematical analysis, simulation, and testing on a bipedal running robot, Dikon. One of several methods by which animals control their running gait is adjustment of leg stiffness. Simulation case studies also indicate that leg stiffness is a useful method of control, and can contribute to passive stability. I seek to find quantitative measures to determine the effects of leg stiffness on the energetic efficiency of a running gait, to enable informed control policies on robotic running systems.
A copy of the thesis proposal document can be found at http://www.biped.ri.cmu.edu/thesis_proposal/.
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