Stable Running with Segmented Legs

In human and animal running spring-like leg behavior is found. In a spring-mass model, running proves to be self-stable in terms of external perturbations or variations in leg properties (e.g. landing angle). However, biological limbs are not made of springs but, rather, consist of segments where spring-like behavior can be localized at joint level. Here, we use a two-segment leg model to investigate the effects of leg compliance originating from joint level on running stability. Due to leg geometry a nonlinear relationship between leg force and leg compression is found. In contrast to the linear leg spring, the segmented leg is capable of reducing the minimum speed for self-stable running from

• Type: Journal
• Year: 2008
• Where: IJRR
• Authors: Juergen Rummel, André Seyfarth
• Keywords: IJRR 2008, Joint Level, Leg Properties, Spring-like Leg Behavior