We present a novel control strategy for running which is robust to disturbances, and makes excellent use of passive dynamics for energy economy. The motivation for our control strategy is based on observations of animals, which are able to economically walk and run over varying terrain and ground dynamics. It...
We present a model for running that combines active control with passive dynamics,
in an attempt to approach the economy and robustness of animal running. Our
work is inspired by examples of guinea fowl encountering an unexpected drop in
ground surface, with little a ect on their running gait. Previous...