3 accepted papers
In this paper, we investigated how the stiffness and damping properties of soft robotic feet affect the stability and energetic economy of bipedal robotic walking. To this end, we manufactured four different spherical feet from the following materials: hollow rubber, Sorbothane, Norsorex, and Neopre…
This paper introduces RAMone, a series-elastic planar biped with knees, built to study the energetics of bipedal locomotion. RAMone is designed to achieve versatile, economical motion using lightweight legs with highly compliant joints. To demonstrate the hardware, we present a virtual-model control…
Should a legged robot use different gaits at different desired speeds? If so, what constitutes these gaits? This work examines these questions through a case study on the planar bipedal robot RAMone. Using a realistic model of the robot, this paper presents the outcome of a series of trajectory opti